https://github.com/aleksrutins/ctrlcurve

A library for PID control in Java.
https://github.com/aleksrutins/ctrlcurve

Last synced: about 22 hours ago
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A library for PID control in Java.

• Host: GitHub
• URL: https://github.com/aleksrutins/ctrlcurve
• Owner: aleksrutins
• License: mit
• Created: 2022-03-19T15:39:53.000Z (over 2 years ago)
• Default Branch: master
• Last Pushed: 2024-03-23T18:32:27.000Z (8 months ago)
• Last Synced: 2024-03-24T02:24:11.219Z (8 months ago)
• Language: Kotlin
• Homepage:
• Size: 162 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# ctrlcurve

_A library for PID (proportional-integral-derivative) control in Kotlin._

## Getting started

I learned the hard way with [station](https://github.com/aleksrutins/station) that GitHub Packages maybe isn't the best idea for Maven/Gradle packages. So, just use JitPack.

```groovy

repositories {

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

}

...

dependencies {

    implementation 'com.github.aleksrutins:ctrlcurve:0.1.0'

}

```

Please note, though, that the package is `com.farthergate.ctrlcurve`, not `com.github.aleksrutins.ctrlcurve`.

## Usage

```java

import com.farthergate.ctrlcurve.PID;

// ...

// Initialize constants

// The starting value

double initial = 0.0;

// The target value

double target = 10;

// The PID coefficient

double kp = 100.0;

// Time of integration

double ti = 50;

// Time of differentiation

double td = 50;

// Milliseconds to wait between iterations

double dt = 10;

// The tolerance for floating-point comparisons

double tolerance = 0.01;

// This is the current value; in a real-life situation, this would be written to actuators and read back from sensors.

double current = initial;

// Run a PID loop

// The loop ends once it is within `tolerance` of the target position. The value at that point is not necessarily the exact same value as the target position.

for(var pid = new PID(kp, ti, td, dt, tolerance, initial, target); pid.shouldContinue(); pid.update(current)) {

    // `correction()` does the actual PID math, and returns a correction value to smoothly transition between `target` and `current`.

    current += pid.correction();

    // `sync()` waits for `dt` milliseconds, to allow time for sensors to update.

    pid.sync();

}

```