io.github.robolib.command

Class PIDCommand

java.lang.Object

io.github.robolib.command.Command

io.github.robolib.command.PIDCommand

All Implemented Interfaces:

NamedSendable, Sendable

public abstract class PIDCommand
extends Command
implements Sendable

Author:

noriah

Field Summary

Fields

Modifier and Type	Field and Description
(package private) PIDController	m_controller
(package private) PIDSink	m_sink
(package private) PIDSource	m_source

Fields inherited from class io.github.robolib.command.Command

m_locked, m_nextCommand, m_previousCommand, m_running, m_state

Constructor Summary

Constructors

Constructor and Description
PIDCommand(double p, double i, double d) Instantiates a PIDCommand that will use the given p, i and d values.
PIDCommand(double p, double i, double d, double period) Instantiates a PIDCommand that will use the given p, i and d values.
PIDCommand(java.lang.String name, double p, double i, double d) Instantiates a PIDCommand that will use the given p, i and d values.
PIDCommand(java.lang.String name, double p, double i, double d, double period) Instantiates a PIDCommand that will use the given p, i and d values.

Method Summary

Modifier and Type	Method and Description
(package private) void	_end() End_impl.
(package private) void	_initialize() Initialize_impl.
(package private) void	_interrupted() Interrupted_impl.
protected PIDController	getController() Returns the PIDController used by this PIDCommand.
protected double	getPosition() Returns the current position
protected double	getSetpoint() Returns the setpoint.
java.lang.String	getSmartDashboardType()
void	initTable(ITable table)
protected abstract double	returnPIDInput() Returns the input for the pid loop.
protected void	setInputRange(double min, double max) Sets the maximum and minimum values expected from the input and setpoint.
protected void	setOutputRange(double min, double max) Sets the maximum and minimum values to write.
protected void	setSetpoint(double point) Sets the setpoint to the given value.
void	setSetpointRelative(double deltaSetpoint) Adds the given value to the setpoint.
protected abstract void	usePIDOutput(double output) Uses the value that the pid loop calculated.

Methods inherited from class io.github.robolib.command.Command

_cancel, _execute, cancel, doesRequire, end, execute, getGroup, getName, getRequirements, getTable, initialize, interrupted, isCanceled, isFinished, isInterruptible, isRunning, isTimedOut, removed, requires, run, setCancelOnModeSwitch, setInterruptible, setParent, setRunWhenDisabled, setTimeout, start, startRunning, timeSinceInitialized, toString, willCancelOnModeSwitch, willRunWhenDisabled

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface io.github.robolib.identifier.Sendable

getTable

Field Detail

m_controller

final PIDController m_controller

m_sink

final PIDSink m_sink

m_source

final PIDSource m_source

Constructor Detail

PIDCommand

public PIDCommand(java.lang.String name,
                  double p,
                  double i,
                  double d)

Instantiates a PIDCommand that will use the given p, i and d values.

Parameters:

name - the name of the command

p - the proportional value

i - the integral value

d - the derivative value

PIDCommand

public PIDCommand(java.lang.String name,
                  double p,
                  double i,
                  double d,
                  double period)

Instantiates a PIDCommand that will use the given p, i and d values. It will also space the time between PID loop calculations to be equal to the given period.

Parameters:

name - the name

p - the proportional value

i - the integral value

d - the derivative value

period - the time (in seconds) between calculations

PIDCommand

public PIDCommand(double p,
                  double i,
                  double d)

Instantiates a PIDCommand that will use the given p, i and d values. It will use the class name as its name.

Parameters:

p - the proportional value

i - the integral value

d - the derivative value

PIDCommand

public PIDCommand(double p,
                  double i,
                  double d,
                  double period)

Instantiates a PIDCommand that will use the given p, i and d values. It will use the class name as its name.. It will also space the time between PID loop calculations to be equal to the given period.

Parameters:

p - the proportional value

i - the integral value

d - the derivative value

period - the time (in seconds) between calculations

Method Detail

getController

protected PIDController getController()

Returns the PIDController used by this PIDCommand. Use this if you would like to fine tune the pid loop.

Returns:

the PIDController used by this PIDCommand

_initialize

final void _initialize()

Description copied from class: Command

Initialize_impl.

Overrides:

_initialize in class Command

_end

final void _end()

Description copied from class: Command

End_impl.

Overrides:

_end in class Command

_interrupted

final void _interrupted()

Description copied from class: Command

Interrupted_impl.

Overrides:

_interrupted in class Command

setSetpointRelative

public final void setSetpointRelative(double deltaSetpoint)

Adds the given value to the setpoint. If setInputRange(...) was used, then the bounds will still be honored by this method.

Parameters:

deltaSetpoint - the change in the setpoint

setSetpoint

protected final void setSetpoint(double point)

Sets the setpoint to the given value. If setInputRange(...) was called, then the given setpoint will be trimmed to fit within the range.

Parameters:

setpoint - the new setpoint

getSetpoint

protected final double getSetpoint()

Returns the setpoint.

Returns:

the setpoint

getPosition

protected final double getPosition()

Returns the current position

Returns:

the current position

setInputRange

protected final void setInputRange(double min,
                                   double max)

Sets the maximum and minimum values expected from the input and setpoint.

Parameters:

min - the minimum value expected from the input and setpoint

max - the maximum value expected from the input and setpoint

setOutputRange

protected final void setOutputRange(double min,
                                    double max)

Sets the maximum and minimum values to write.

Parameters:

min - the minimum value to write to the output

max - the maximum value to write to the output

returnPIDInput

protected abstract double returnPIDInput()

Returns the input for the pid loop.

It returns the input for the pid loop, so if this command was based off of a gyro, then it should return the angle of the gyro

All subclasses of PIDCommand must override this method.

This method will be called in a different thread then the Scheduler thread.

Returns:

the value the pid loop should use as input

usePIDOutput

protected abstract void usePIDOutput(double output)

Uses the value that the pid loop calculated. The calculated value is the "output" parameter. This method is a good time to set motor values, maybe something along the lines of driveline.tankDrive(output, -output)

All subclasses of PIDCommand must override this method.

This method will be called in a different thread then the Scheduler thread.

Parameters:

output - the value the pid loop calculated

getSmartDashboardType

public final java.lang.String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

Overrides:

getSmartDashboardType in class Command

initTable

public final void initTable(ITable table)

Specified by:

initTable in interface Sendable

Overrides:

initTable in class Command