Package ca.team3161.lib.robot.pid

Interface PID<T extends edu.wpi.first.wpilibj.PIDSource,​V extends java.lang.Number>

  • Type Parameters:
    T - the type of sensor used as input to this PID system.
    V - the type of value read from the sensor used as input to this PID system.
    All Known Implementing Classes:
    AbstractPID, PIDulum, SimplePID, TractionController, VelocityController
    public interface PID<T extends edu.wpi.first.wpilibj.PIDSource,​V extends java.lang.Number>
    A PID loop, which uses a PIDSrc and a set of constants to iteratively determine output values with which a system can reach and maintain a target value.

    • Method Summary

      All Methods Instance Methods Abstract Methods 
      Modifier and Type Method Description
      boolean atTarget()
      Check if this PID has reached its target value.
      void clear()
      Reset the state of this PID loop.
      float getkD()
      Get the Derivative constant for this PID.
      float getkI()
      Get the Integral constant for this PID.
      float getkP()
      Get the Proportional constant for this PID.
      PIDSrc<T,​V> getSrc()
      Get the source sensor of this PID.
      V pid​(V target)
      Iterate the PID loop.
      void setkD​(float kD)
      Set the Derivative constant for this PID.
      void setkI​(float kI)
      Set the Integral constant for this PID.
      void setkP​(float kP)
      Set the Proportional constant for this PID.

    • Method Detail

      • clear

        void clear()
        Reset the state of this PID loop.

      • pid

        V pid​(V target)
        Iterate the PID loop.
        Parameters:
        target - the desired target value. Units depend on the context of this PID
        Returns:
        the output value to set to eg a SpeedController to reach the specified target

      • getSrc

        PIDSrc<T,​V> getSrc()
        Get the source sensor of this PID.
        Returns:
        the PIDSrc (PID source sensor) used by this PID loop

      • atTarget

        boolean atTarget()
        Check if this PID has reached its target value.
        Returns:
        whether this PID loop has reached the specified target value

      • setkP

        void setkP​(float kP)
        Set the Proportional constant for this PID.
        Parameters:
        kP - the Proportional constant.

      • getkP

        float getkP()
        Get the Proportional constant for this PID.
        Returns:
        the Proportional constant.

      • setkI

        void setkI​(float kI)
        Set the Integral constant for this PID.
        Parameters:
        kI - the Integral constant.

      • getkI

        float getkI()
        Get the Integral constant for this PID.
        Returns:
        the Integral constant.

      • setkD

        void setkD​(float kD)
        Set the Derivative constant for this PID.
        Parameters:
        kD - the Derivative constant.

      • getkD

        float getkD()
        Get the Derivative constant for this PID.
        Returns:
        the Derivative constant.