How to use

setMaxIntegralError

method

in

us.ihmc.robotics.controllers.PIDController

@ContinuousIntegrationTest(estimatedDuration = 0.3)
@Test(timeout=300000)
public void testSetMaxIntegralError()
{
 YoVariableRegistry registry = new YoVariableRegistry("mike");
 PIDController pid = new PIDController("", registry);
 pid.setMaxIntegralError(5.0);
 assertEquals(5.0, pid.getMaxIntegralError(), 0.001);
}

public ValkyrieRosControlEffortJointControlCommandCalculator(YoEffortJointHandleHolder yoEffortJointHandleHolder, double torqueOffset, double controlDT,
                              YoVariableRegistry parentRegistry)
{
 this.yoEffortJointHandleHolder = yoEffortJointHandleHolder;
 this.controlDT = controlDT;
 String pdControllerBaseName = yoEffortJointHandleHolder.getName();
 YoVariableRegistry registry = new YoVariableRegistry(pdControllerBaseName + "Command");
 pidController = new PIDController(pdControllerBaseName + "LowLevelControl", registry);
 tauOffset = new YoDouble("tau_offset_" + pdControllerBaseName, registry);
 pidController.setMaxIntegralError(50.0);
 pidController.setCumulativeError(0.0);
 tauOffset.set(torqueOffset);
 parentRegistry.addChild(registry);
}

public void setGains(PIDGainsReadOnly gains)
{
 pdController.setGains(gains);
 setMaximumOutputLimit(gains.getMaximumFeedback());
 setIntegralLeakRatio(gains.getIntegralLeakRatio());
 setIntegralGain(gains.getKi());
 setMaxIntegralError(gains.getMaxIntegralError());
}

jointPositionController.setProportionalGain(15.0 * subtreeMass);
jointPositionController.setIntegralGain(35.0 * subtreeMass);
jointPositionController.setMaxIntegralError(0.3);
jointPositionController.setIntegralLeakRatio(integralLeakRatio);
jointPositionController.setDerivativeGain(2.0 * subtreeMass);
jointVelocityController.setMaxIntegralError(0.3);
jointVelocityController.setIntegralLeakRatio(integralLeakRatio);
jointVelocityController.setMaximumOutputLimit(40.0 * subtreeMass);
jointPositionController.setProportionalGain(145.0 * subtreeMass);
jointPositionController.setIntegralGain(9.0 * 50.0 * subtreeMass);
jointPositionController.setMaxIntegralError(0.2);
jointPositionController.setIntegralLeakRatio(integralLeakRatio);
jointPositionController.setDerivativeGain(4.5 * subtreeMass);
jointVelocityController.setMaxIntegralError(0.2);
jointVelocityController.setIntegralLeakRatio(integralLeakRatio);
jointVelocityController.setMaximumOutputLimit(3.5 * subtreeMass);
jointPositionController.setMaxIntegralError(0.2);
jointPositionController.setIntegralLeakRatio(integralLeakRatio);
jointPositionController.setDerivativeGain(200.0);
jointVelocityController.setMaxIntegralError(0.2);
jointVelocityController.setIntegralLeakRatio(integralLeakRatio);
jointVelocityController.setMaximumOutputLimit(400.0);
jointPositionController.setMaxIntegralError(0.2);

jointController.setProportionalGain(15.0 * subtreeMass);
jointController.setIntegralGain(35.0 * subtreeMass);
jointController.setMaxIntegralError(0.3);
jointController.setIntegralLeakRatio(integralLeakRatio);
jointController.setDerivativeGain(2.0 * subtreeMass);
jointController.setMaxIntegralError(0.2);
jointController.setIntegralLeakRatio(integralLeakRatio);
jointController.setDerivativeGain(500.0);
jointController.setMaxIntegralError(0.2);
jointController.setIntegralLeakRatio(integralLeakRatio);
jointController.setDerivativeGain(200.0);
jointController.setMaxIntegralError(0.2);
jointController.setIntegralLeakRatio(integralLeakRatio);
jointController.setDerivativeGain(500.0);

jointController.setProportionalGain(15.0 * subtreeMass);
jointController.setIntegralGain(35.0 * subtreeMass);
jointController.setMaxIntegralError(0.3);
jointController.setIntegralLeakRatio(integralLeakRatio);
jointController.setDerivativeGain(2.0 * subtreeMass);
jointController.setMaxIntegralError(0.2);
jointController.setIntegralLeakRatio(integralLeakRatio);
jointController.setDerivativeGain(500.0);
jointController.setMaxIntegralError(0.2);
jointController.setIntegralLeakRatio(integralLeakRatio);
jointController.setDerivativeGain(200.0);
jointController.setMaxIntegralError(0.2);
jointController.setIntegralLeakRatio(integralLeakRatio);
jointController.setDerivativeGain(500.0);

@ContinuousIntegrationTest(estimatedDuration = 0.2)
@Test(timeout=300000)
public void testCompute_all_PID()
{
 PIDController pid = new PIDController("", null);
 pid.setProportionalGain(2.0);
 pid.setIntegralGain(3.0);
 pid.setDerivativeGain(4.0);
 pid.setMaxIntegralError(10.0);
 double currentPosition = 0.0;
 double desiredPosition = 5.0;
 double currentRate = 0.0;
 double desiredRate = 2.0;
 assertEquals((10.0 + 1.5 + 8.0), pid.compute(currentPosition, desiredPosition, currentRate, desiredRate, 0.1), 0.001);
 assertEquals((10.0 + 3.0 + 8.0), pid.compute(currentPosition, desiredPosition, currentRate, desiredRate, 0.1), 0.001);
 assertEquals((10.0 + 18.0 + 8.0), pid.compute(currentPosition, desiredPosition, currentRate, desiredRate, 1.0), 0.001);
 // tests max integration error
 assertEquals((10.0 + 30.0 + 8.0), pid.compute(currentPosition, desiredPosition, currentRate, desiredRate, 1.01), 0.001);
}

@ContinuousIntegrationTest(estimatedDuration = 0.3)
@Test(timeout=300000)
public void testCompute_all_PID_withDeadband()
{
 PIDController pid = new PIDController("", null);
 pid.setProportionalGain(2.0);
 pid.setIntegralGain(3.0);
 pid.setDerivativeGain(4.0);
 pid.setMaxIntegralError(10.0);
 pid.setPositionDeadband(1.5);
 double currentPosition = 0.0;
 double desiredPosition = 5.0;
 double currentRate = 0.0;
 double desiredRate = 2.0;
 assertEquals((7.0 + 1.05 + 8.0), pid.compute(currentPosition, desiredPosition, currentRate, desiredRate, 0.1), 0.001);
 assertEquals((7.0 + 2.1 + 8.0), pid.compute(currentPosition, desiredPosition, currentRate, desiredRate, 0.1), 0.001);
 assertEquals((7.0 + 12.6 + 8.0), pid.compute(currentPosition, desiredPosition, currentRate, desiredRate, 1.0), 0.001);
 // tests max integration error
 assertEquals((7.0 + 30.0 + 8.0), pid.compute(currentPosition, desiredPosition, currentRate, desiredRate, 3.0), 0.001);
}

pid2.setIntegralGain(integral);
pid2.setDerivativeGain(derivative);
pid2.setMaxIntegralError(maxIntegral);