Simple PID Controller

How to get library

You can download from the release tag of the repo or use jitpack.io.

For Gradle projects

Add it in your root build.gradle at the end of repositories:

allprojects {
    repositories {
        maven {
            url 'https://jitpack.io'
        }
    }
}

Add the dependency:

dependencies {
    implementation 'com.github.mahimarib:simple-PID:0.0.1'
}

How to use

In order to use Controller.java, you need your system to implement Source so the controller can read the sensor values:

import com.github.mahimarib.pid.Source;

public class PIDMotor extends DcMotor implements Source {

    ...

    @Override
    public SourceType getSourceType() {
        return SourceType.Displacement;
    }

    @Override
    public void setSourceType(SourceType sourceType) {}

    @Override
    public double get() {
        // just some method to feed in sensor values.
        return getPosition();
    }
}

To output the PID output, you can either make the system class implement the Output interface or if you want to use it somewhere else just create an inner class that implements it:

import com.github.mahimarib.pid.Output;

public class SomeClass {
    
    ...
    
    private class MotorOutput implements Output {
        @Override
        public void write(double output) {
            motor.set(output);
        }
    }
}

Then you can finally create a PID Controller:

import com.github.mahimarib.pid.*;

public class RunMotor {
    private double kP = 0.001;
    private double kI = 0;
    private double kD = 0;
    
    // this class implements Source.
    private PIDMotor motor = new PIDMotor();
    
    private Controller motorController;
    
    private class MotorOutput implements Output {
        @Override
        public void write(double output) {
            motor.set(output);
        }
    }
    
    public void init() {
        motorController = new Controller(kP, kI, kD, motor, new MotorOutput());
        motorController.setOutputLimit(-1.0, 1.0);
        // setting the absolute tolerance, meaning that the raw sensor value
        // should be off by the given value from the setpoint. In this case
        // if we are using encoders and want the motor to spin to a position
        // then the desired position will be in between:
        // sepoint - tolerance ≤ position ≤ setpoint + tolerance
        motorController.setAbsoluteTolerance(100);
        motorController.setSetpoint(4000);
        motorController.enable();
    }
    
    // running the PID until it reaches setpoint then stop, it can hold the
    // position if you don't. The run() method must be called inside a loop.
    public void loop() {
        if (!motorController.onTarget()) {
            motorController.run();
        }
        motorController.disable();
        motor.set(0.0);
    }
}