java - 如何用Java实现多线程PID Controller ？

Question

我对 Java 还不太熟悉，所以还没有完全掌握多线程的概念。我想创建一个 PIDController 类来允许我执行此操作:

ControllerMethods methods = new ControllerMethods()
                            {
                                public long getError(long setpoint)
                                {
                                    //get an input
                                }
                                public void setOutput(long value)
                                {
                                    //do something
                                }
                                public void isComplete(long setpoint)
                                {
                                    return getError() == 0;
                                }
                            };

PIDController motorPID = new PIDController(setpoint, kp, ki, kd, methods);

motorPID.run();
//runs the PID controller to completion (methods.isComplete() == true)

motorPID.run(false);
//starts the PID controller in a separate thread, allowing
//continual monitoring in the current thread

while(motorPID.isRunning())
{
    //do something else
    if(condition1)
        motorPID.pause();
        //pause the PID controller, preventing the integral from increasing
    else if(condition2)
        motorPID.stop();
}

我已经弄清楚如何计算标准 PID 算法，但我无法弄清楚如何提供异步功能。

谁能告诉我如何实现类似的 API？

Answer 1

您已经为 PIDController 实现了 run() 方法，因此您还应该实现 Runnable 接口(interface):

class PIDController implements Runnable {
    ....
}

现在您可以通过调用异步启动 PIDController:

pidControllerThread = new Thread( pidController );
pidControllerThread.start();

为了同步(如果需要)，你应该看看太阳 concurrency guide .