public PIDController(YoDouble proportionalGain, YoDouble integralGain, YoDouble derivativeGain, YoDouble maxIntegralError, String suffix,
YoVariableRegistry registry)
{
super(suffix, registry);
pdController = new PDController(proportionalGain, derivativeGain, suffix, registry);
this.integralGain = integralGain;
this.maxIntegralError = maxIntegralError;
maxFeedback = new YoDouble("maxOutput_" + suffix, registry);
maxFeedback.set(Double.POSITIVE_INFINITY);
integralLeakRatio = new YoDouble("leak_" + suffix, registry);
integralLeakRatio.set(1.0);
addLeakRatioClipper();
}