Controller Type Objects

Any object that implements following public methods is considered a controller type object:

• object["getThrottle"]() -> returns throttle percentage
• object["getSteering"]() -> returns vector or direction
• object["completed"]() -> returns true if controller has done its job

Location

Controller classes are located in /controllers/ directory of FALL:

0:/fall/controllers/

Types

Currently FALL implements following types of controllers:

• Vector oriented:
  • not the greatest precision
  • require little to no tuning
  • rely on vector calculations
• PID oriented:
  • can get extremely accurate
  • rely on PID loops
  • require an understanding of PID loop tuning
  • have PID in their name

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Table of contents

• ascentController
• boostbackController
• glideController
• glidePIDController
• landingController
• landingPIDController
• Passing Control