org.lsst.ccs.subsystem.common
Class PIDFeedbackLoop

java.lang.Object
  java.util.Observable
      org.lsst.ccs.framework.Module
          org.lsst.ccs.subsystem.common.UnaryOpModule
              org.lsst.ccs.subsystem.common.FeedbackLoop
                  org.lsst.ccs.subsystem.common.PIDFeedbackLoop

All Implemented Interfaces:

Serializable, Observer, org.lsst.ccs.framework.Configurable

public class PIDFeedbackLoop
extends FeedbackLoop

Proportional-Integral-Derivative feedback loop

Author:

aubourg

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.framework.Module

org.lsst.ccs.framework.Module.ValueUpdate

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.Configurable

org.lsst.ccs.framework.Configurable.Environment

Field Summary

Fields inherited from class org.lsst.ccs.framework.Module

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

PIDFeedbackLoop()

Method Summary

void	changeSetup()
double	getDerivativeTime()
double	getGain()
double	getIntegralTime()
double	getMaxCorr()
double	getMinCorr()
boolean	isFreezeOnUpdate()
Object	processInput(String input, String output, Object val, long timeStamp)
void	resetIntegral()
void	setDerivativeTime(double derivativeTime)
void	setFreezeOnUpdate(boolean freezeOnUpdate)
void	setGain(double gain)
void	setIntegralTime(double integralTime)
void	setMaxCorr(double maxCorr)
void	setMinCorr(double minCorr)
void	setTarget(double target) Goal value

Methods inherited from class org.lsst.ccs.subsystem.common.FeedbackLoop

getTarget

Methods inherited from class org.lsst.ccs.subsystem.common.UnaryOpModule

getAttRegex, getPrefix, getSuffix, processUpdate, setAttRegex, setPrefix, setSuffix

Methods inherited from class org.lsst.ccs.framework.Module

alias, change, checkHardware, dropConfigurationContext, getAvailableCommands, getCheckedValueFromConfiguration, getChildren, getContext, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, initModule, listens, newConfigurationContext, notifyChange, notifyChangeWithoutPreliminaryChecks, publishData, publishData, publishData, publishData, publishData, publishData, publishData, register, register, removeLogPanicState, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, setHandlerLevel, setLogLevel, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, setTickMillis, shutdownCommand, shutdownNow, start, startTicking, tick, update

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PIDFeedbackLoop

public PIDFeedbackLoop()

Method Detail

setFreezeOnUpdate

public void setFreezeOnUpdate(boolean freezeOnUpdate)

isFreezeOnUpdate

public boolean isFreezeOnUpdate()

changeSetup

public void changeSetup()

setTarget

public void setTarget(double target)

Description copied from class: FeedbackLoop

Goal value

Overrides:

setTarget in class FeedbackLoop

getGain

public double getGain()

setGain

public void setGain(double gain)

getIntegralTime

public double getIntegralTime()

setIntegralTime

public void setIntegralTime(double integralTime)

getDerivativeTime

public double getDerivativeTime()

setDerivativeTime

public void setDerivativeTime(double derivativeTime)

resetIntegral

public void resetIntegral()

setMinCorr

public void setMinCorr(double minCorr)

setMaxCorr

public void setMaxCorr(double maxCorr)

getMinCorr

public double getMinCorr()

getMaxCorr

public double getMaxCorr()

processInput

public Object processInput(String input,
                           String output,
                           Object val,
                           long timeStamp)

Specified by:

processInput in class UnaryOpModule