Class FloatPIDController

Namespace: mobisim.Actors.Vehicle

PID controller for scalar (Single) quantities such as vehicle speed.

[Serializable]
public sealed class FloatPIDController : PIDController<float>

Inheritance

object→PIDController<float>→FloatPIDController

Inherited Members

• PIDController<float>.Coefficients
• PIDController<float>.Reset()
• PIDController<float>.GetOutput(float, float)

Remarks

Used by the AI drive system to regulate longitudinal speed: the error is targetSpeed - currentSpeed and the output drives the throttle input to PrometeoCarController. The integral term corrects for the steady-state speed deficit that a pure P-controller would leave on uphill road segments.

Methods

ComputeOutput(float, float)

Performs the type-specific PID computation: calculates the proportional, integral, and derivative contributions and combines them according to the tuning coefficients.

protected override float ComputeOutput(float error, float deltaTime)

Parameters

Name	Type	Description
error	float	The current error value.
deltaTime	float	Time in seconds since the last update.

Returns

float — The raw PID output before any external scaling or clamping.

Remarks

I-term accumulation: iTerm accumulates raw error multiplied by delta-time (pTerm * deltaTime), not Kp * error. This is intentional — the gain coefficient Coefficients.i is applied at the final summation, which is the standard parallel-form PID formulation. Some textbook implementations instead fold the gain into the accumulation step; that would require different coefficient tuning and is not used here.

deltaTime Although [Single)](../index.mdx) already validates that deltaTimeis positive before calling this method, the check is repeated here as a defensive measure. Subclasses or future callers that invokeComputeOutputdirectly (bypassingGetOutput`) would otherwise risk a divide-by-zero in the derivative term.

previousError = pTerm: Because pTerm is assigned error with no transformation, this statement is semantically identical to previousError = error. The intermediate variable is retained for readability — it makes the parallel structure of the three terms (p, i, d) explicit.