Package ca.team3161.lib.robot.motion.drivetrains

Class PIDDrivetrain

java.lang.Object

ca.team3161.lib.robot.subsystem.AbstractSubsystem

ca.team3161.lib.robot.subsystem.AbstractPooledSubsystem

ca.team3161.lib.robot.subsystem.RepeatingPooledSubsystem

ca.team3161.lib.robot.motion.drivetrains.AbstractDrivetrainBase

ca.team3161.lib.robot.motion.drivetrains.PIDDrivetrain

All Implemented Interfaces:

LifecycleListener, Subsystem, ComposedComponent<java.lang.Object>

public final class PIDDrivetrain
extends AbstractDrivetrainBase
implements ComposedComponent<java.lang.Object>

A drivetrain controller that uses PID objects and is able to accurately drive straight and turn by degrees. WARNING! This class is only intended and designed for autonomous usage!

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	PIDDrivetrain.Builder	A Builder to facilitate easy instantation of PIDDrivetrains.
class	PIDDrivetrain.Task	An action this PIDDrivetrain may carry out.

Nested classes/interfaces inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

AbstractSubsystem.RunTask

Field Summary

Fields

Modifier and Type	Field	Description
static long	SUBSYSTEM_TASK_PERIOD

Fields inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

job, resourceLocks, THREAD_PRIORITY

Constructor Summary

Constructors

Constructor	Description
PIDDrivetrain(PIDDrivetrain.Builder builder)	Create a new PIDDrivetrain instance from a Builder.
PIDDrivetrain(edu.wpi.first.wpilibj.SpeedController leftDrive, edu.wpi.first.wpilibj.SpeedController rightDrive, PID<? extends edu.wpi.first.wpilibj.pidwrappers.PIDEncoder,java.lang.Integer> leftEncoder, PID<? extends edu.wpi.first.wpilibj.pidwrappers.PIDEncoder,java.lang.Integer> rightEncoder, PID<? extends edu.wpi.first.wpilibj.interfaces.Gyro,java.lang.Float> turningPid, PID<? extends edu.wpi.first.wpilibj.interfaces.Gyro,java.lang.Float> bearingPid)	Create a new PIDDrivetrain instance.

Method Summary

Modifier and Type	Method	Description
void	defineResources()	Require the SpeedControllers and PID objects.
java.util.Collection<java.lang.Object>	getComposedComponents()	Get the composed components within this one.
void	reset()	Reset the state of the drivetrain so that it can be cleanly reused.
void	setTicksTarget(int ticks)	Drive forward a number of encoder ticks.
void	stop()	Stop all movement by setting all motor target values to 0 and disabling them.
void	task()	Iteratively PID loop.
void	turnByDegrees(float degrees)	Turn in place.
void	waitForTarget()	Suspends the calling thread until the target is reached, at which point it will be awoken again.

Methods inherited from class ca.team3161.lib.robot.motion.drivetrains.AbstractDrivetrainBase

onLifecycleChange

Methods inherited from class ca.team3161.lib.robot.subsystem.RepeatingPooledSubsystem

isDone, start

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractPooledSubsystem

getExecutorService

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

acquireResources, cancel, getJob, isCancelled, isScheduled, isStarted, releaseResources, require

Methods inherited from class java.lang.Object

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

Field Detail

SUBSYSTEM_TASK_PERIOD

public static final long SUBSYSTEM_TASK_PERIOD

See Also:

Constant Field Values

Constructor Detail

PIDDrivetrain

public PIDDrivetrain(edu.wpi.first.wpilibj.SpeedController leftDrive,
                     edu.wpi.first.wpilibj.SpeedController rightDrive,
                     PID<? extends edu.wpi.first.wpilibj.pidwrappers.PIDEncoder,java.lang.Integer> leftEncoder,
                     PID<? extends edu.wpi.first.wpilibj.pidwrappers.PIDEncoder,java.lang.Integer> rightEncoder,
                     PID<? extends edu.wpi.first.wpilibj.interfaces.Gyro,java.lang.Float> turningPid,
                     PID<? extends edu.wpi.first.wpilibj.interfaces.Gyro,java.lang.Float> bearingPid)

Create a new PIDDrivetrain instance.

Parameters:

leftDrive - the left side drivetrain SpeedController

rightDrive - the right side drivetrain SpeedController

leftEncoder - the left side drivetrain Encoder

rightEncoder - the right side drivetrain Encoder

turningPid - an AnglePidSrc (eg Gyro) to maintain a straight heading

bearingPid - an AnglePidSrc to orient to a vector while stationary

PIDDrivetrain

public PIDDrivetrain(PIDDrivetrain.Builder builder)

Create a new PIDDrivetrain instance from a Builder.

Parameters:

builder - the PIDDrivetrain.Builder which contains all the parameters of this PIDDrivetrain.

Method Detail

defineResources

public void defineResources()

Require the SpeedControllers and PID objects.

Specified by:

defineResources in interface Subsystem

See Also:

AbstractSubsystem.require(Object)

turnByDegrees

public void turnByDegrees(float degrees)

Turn in place. Positive degrees may be either clockwise or anticlockwise, depending on the setup of your particular AnglePidSrc

Parameters:

degrees - how many degrees to turn

setTicksTarget

public void setTicksTarget(int ticks)

Drive forward a number of encoder ticks.

Parameters:

ticks - how many ticks to drive

reset

public void reset()

Reset the state of the drivetrain so that it can be cleanly reused.

task

public void task()

Iteratively PID loop.

Specified by:

task in interface Subsystem

stop

public void stop()

Stop all movement by setting all motor target values to 0 and disabling them.

Specified by:

stop in class AbstractDrivetrainBase

waitForTarget

public void waitForTarget()
                   throws java.lang.InterruptedException

Suspends the calling thread until the target is reached, at which point it will be awoken again.

Throws:

java.lang.InterruptedException - if the calling thread is interrupted while waiting

getComposedComponents

public java.util.Collection<java.lang.Object> getComposedComponents()

Get the composed components within this one.

Specified by:

getComposedComponents in interface ComposedComponent<java.lang.Object>

Returns:

the composed components.