model.utilities.pid.ControllerFactory.java Source code

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Here is the source code for model.utilities.pid.ControllerFactory.java

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/*
 * Copyright (c) 2014 by Ernesto Carrella
 * Licensed under MIT license. Basically do what you want with it but cite me and don't sue me. Which is just politeness, really.
 * See the file "LICENSE" for more information
 */

package model.utilities.pid;

import com.google.common.base.Preconditions;
import model.MacroII;

/**
 * <h4>Description</h4>
 * <p/> A static method that takes a MacroII object and a class of controller and builds  it
 * <p/>
 * <p/>
 * <h4>Notes</h4>
 * Created with IntelliJ
 * <p/>
 * <p/>
 * <h4>References</h4>
 *
 * @author carrknight
 * @version 2012-12-21
 * @see
 */
public class ControllerFactory {

    private ControllerFactory() {
    }

    /**
     * The factory creates the controller of specified type by drawing parameters at random from the model class
     * @param controllerType the type of controller you want
     * @return the controller object you get
     */
    public static <C extends Controller> C buildController(Class<C> controllerType, MacroII model) {
        Preconditions.checkArgument(controllerType != null && model != null, "Don't pass nulls!");

        //if it's a PID controller
        if (controllerType.equals(PIDController.class)) {
            return (C) new PIDController(model.drawProportionalGain(), model.drawIntegrativeGain(),
                    model.drawDerivativeGain(), model.drawPIDSpeed());
        } else if (controllerType.equals(CascadePIDController.class)) {
            return (C) new CascadePIDController(model.drawProportionalGain(), model.drawIntegrativeGain(),
                    model.drawDerivativeGain(), model.drawProportionalGain(), 0, 0, model.getRandom());
        } else if (controllerType.equals(CascadePToPIDController.class)) {
            return (C) new CascadePToPIDController(model);
        } else
            throw new IllegalArgumentException("The Controller factory doesn't recognize: " + controllerType);

    }

}