.. java:import:: ch.epfl.leb.alica.interfaces.controllers ControllerStatusPanel

.. java:import:: ch.epfl.leb.alica.acpack.controllers.pi PI_controller

.. java:import:: ij IJ

.. java:import:: java.util.logging Level

.. java:import:: java.util.logging Logger

SelfTuningController
====================

.. java:package:: ch.epfl.leb.alica.acpack.controllers.selftuningpi
   :noindex:

.. java:type:: public class SelfTuningController extends PI_controller

   A self-tuning implementation of the PI controller. It waits for 10 cycles, and over next 20 cycles generates a step pulse and measures response. From this response it estimates the P and I components of the PID controller.

   :author: Marcel Stefko

Constructors
------------
SelfTuningController
^^^^^^^^^^^^^^^^^^^^

.. java:constructor:: public SelfTuningController(double max_output, double sampling_period_s)
   :outertype: SelfTuningController

   Initialize a new SelfTuningController

   :param max_output: max output
   :param sampling_period_s: tick rate of controller in seconds
   :param step_height: how big step pulse should be generated
   :param p_factor: scaling factor for P in tuning
   :param i_factor: scaling factor for I in tuning

Methods
-------
getName
^^^^^^^

.. java:method:: @Override public String getName()
   :outertype: SelfTuningController

getStatusPanel
^^^^^^^^^^^^^^

.. java:method:: @Override public ControllerStatusPanel getStatusPanel()
   :outertype: SelfTuningController

nextValue
^^^^^^^^^

.. java:method:: @Override public double nextValue(double value)
   :outertype: SelfTuningController

recalibrate
^^^^^^^^^^^

.. java:method:: public final void recalibrate(double step_height, double p_factor, double i_factor)
   :outertype: SelfTuningController