public RoverComputer(FlightComputer fc, double kp, double ki, double kd)
{
throttlePID = new PIDLoop(1, 0, 0);
steerPID = new PIDLoop(1, 0, 0);
pidController = fc.PIDController; //don't think of putting second copy of PID here
this.Kp = kp;
this.Ki = ki;
this.Kd = kd;
}
public PIDController(double kp, double ki, double kd, double maxoutput = double.MaxValue, double minoutput = double.MinValue, bool extraUnwind = false)
{
Vessel = null;
Target = new Quaternion();
RollControlRange = 5.0 * Mathf.Deg2Rad;
//Use http://www.ni.com/white-paper/3782/en/ to fine-tune
pitchRatePI = new PIDLoop(kp, ki, kd, maxoutput, minoutput, extraUnwind);
yawRatePI = new PIDLoop(kp, ki, kd, maxoutput, minoutput, extraUnwind);
rollRatePI = new PIDLoop(kp, ki, kd, maxoutput, minoutput, extraUnwind);
pitchPI = new TorquePI();
yawPI = new TorquePI();
rollPI = new TorquePI();
Reset();
}
public TorquePI()
{
Loop = new PIDLoop();
Ts = 2;
TorqueAdjust = new MovingAverage();
}
