[FEATURE] Gain Scheduling

[Nightsoot]

Requested Feature

The ability to put in control cases for PID constant(s) (I.e. kP = 2, kD = 3 at 90 degrees and kP = 2, kD = 4 at 160 degrees) and interpolate between the constant(s).

• Once the movement starts the constants should be calculated, they don't need to change during the movement.

Current Implementation

There currently is no implementation.

Motivation

Due to the non-linear nature of the robot's movement, one set of PID constants is not as effective in one case to the other, so it would be nice to have a way of automatically making adjustments to the constants to increase consistent performance.

(Optional) Possible Implementations and Alternatives

Having an alternative constructor for FAPID, where you can insert control cases as list of lists or other method (I.e. {kF = 1, kA = 0, kP = 3, kI = 1, kD = 4, case = 90}) and from lowest case to highest case, interpolate linearly or with a spline the constants

[SizzinSeal]

This is planned for the next major version (v0.5.0). Unfortunately this will sit in the backlog for a bit as there are some huge pull requests needing to be merged

[SizzinSeal]

Additionally, this feature does complicate the PID class quite a bit. An important goal of the library is to remain simple, so I'll have to think of a clean way to do this. Let me know if you have any ideas

[Nightsoot]

Fair enough, I understand that simplicity is an important concern, so could you specify what you're trying to avoid other than just general design issues, I'd be willing to help out I just want to know if there is a certain pattern to how you want the PID class structured. Thanks, also we could move this conversation to Discord if that's easier.

[SizzinSeal]

Discord would be easier, as convo is about designing the solution, something GitHub issues aren't super great at