io.github.robolib.command

Class PIDSubsystem

java.lang.Object

io.github.robolib.command.Subsystem

io.github.robolib.command.PIDSubsystem

All Implemented Interfaces:

NamedSendable, Sendable

public abstract class PIDSubsystem
extends Subsystem
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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	disable() Disables the internal PIDController
void	enable() Enables the internal PIDController
PIDController	getPIDController() Returns the PIDController used by this PIDSubsystem.
double	getPosition() Returns the current position
double	getSetpoint() Returns the setpoint.
java.lang.String	getSmartDashboardType()
void	initTable(ITable table)
boolean	onTarget() Return true if the error is within the percentage of the total input range, determined by setTolerance.
protected abstract double	returnPIDInput() Returns the input for the pid loop.
void	setAbsoluteTolerance(double t) Set the absolute error which is considered tolerable for use with OnTarget.
void	setInputRange(double min, double max) Sets the maximum and minimum values expected from the input and setpoint.
void	setOutputRange(double min, double max) Sets the maximum and minimum values to write.
void	setPercentTolerance(double p) Set the percentage error which is considered tolerable for use with OnTarget.
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.Subsystem

confirmCommand, getCurrentCommand, getCurrentCommandNotInterruptable, getDefaultCommand, getName, getTable, initDefaultCommand, iterationRun, nullifyCurrentCommand, setCurrentCommand, setDefaultCommand, toString

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

PIDSubsystem

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

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

Parameters:

name - the name

p - the proportional value

i - the integral value

d - the derivative value

PIDSubsystem

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

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

Parameters:

name - the name

p - the proportional value

i - the integral value

d - the derivative value

f - the feed forward value

PIDSubsystem

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

Instantiates a PIDSubsystem 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

PIDSubsystem

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

Instantiates a PIDSubsystem 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

PIDSubsystem

public PIDSubsystem(double p,
                    double i,
                    double d,
                    double f)

Instantiates a PIDSubsystem 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

f - the feed forward coefficient

period - the time (in seconds) between calculations

PIDSubsystem

public PIDSubsystem(double p,
                    double i,
                    double d,
                    double f,
                    double period)

Instantiates a PIDSubsystem 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

getPIDController

public final PIDController getPIDController()

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

Returns:

the PIDController used by this PIDSubsystem

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

public 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:

point - the new setpoint

getSetpoint

public final double getSetpoint()

Returns the setpoint.

Returns:

the setpoint

getPosition

public final double getPosition()

Returns the current position

Returns:

the current position

setInputRange

public 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

public 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

setAbsoluteTolerance

public final void setAbsoluteTolerance(double t)

Set the absolute error which is considered tolerable for use with OnTarget. The value is in the same range as the PIDInput values.

Parameters:

t - the absolute tolerance

setPercentTolerance

public final void setPercentTolerance(double p)

Set the percentage error which is considered tolerable for use with OnTarget. (Value of 15.0 == 15 percent)

Parameters:

p - the percent tolerance

onTarget

public final boolean onTarget()

Return true if the error is within the percentage of the total input range, determined by setTolerance. This assumes that the maximum and minimum input were set using setInput.

Returns:

true if the error is less than the tolerance

returnPIDInput

protected abstract double returnPIDInput()

Returns the input for the pid loop.

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

All subclasses of PIDSubsystem must override this method.

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 PIDSubsystem must override this method.

Parameters:

output - the value the pid loop calculated

enable

public final void enable()

Enables the internal PIDController

disable

public final void disable()

Disables the internal PIDController

getSmartDashboardType

public final java.lang.String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

Overrides:

getSmartDashboardType in class Subsystem

initTable

public final void initTable(ITable table)

Specified by:

initTable in interface Sendable

Overrides:

initTable in class Subsystem