update

Updates the controller with an error value and time delta.

Control output clamped to outputMin, outputMax

error

The error (target - current)

Time delta in seconds

fun update(target: Double, current: Double, dt: Double, normalizeRadians: Boolean = false): Double

Updates the controller with target and current values.

Control output including feedforward

target

The desired setpoint

current

The current measured value

Time delta in seconds

normalizeRadians

Normalize angular error to -π, π

fun update(target: Double, current: Double, normalizeRadians: Boolean = false): Double

Auto-timestamped update using system time.