PIDSrc (yggdrasil API)

Type Parameters:

T - the type of sensor, eg Encoder or Gyro, used for this PID source.

V - the return type of this PID source.

All Superinterfaces:

edu.wpi.first.wpilibj.PIDSource

All Known Subinterfaces:

PIDAngleValueSrc<T>, PIDRateValueSrc<T>, PIDRawValueSrc<T>

All Known Implementing Classes:

EncoderPIDSrc, GyroAnglePIDSrc, PotentiometerVoltagePIDSrc, TractionController, VelocityController
```
public interface PIDSrc<T extends edu.wpi.first.wpilibj.PIDSource,V extends java.lang.Number>
extends edu.wpi.first.wpilibj.PIDSource
```
Interface for PID sources. On their own, these can only return back the sensor they represent. This interface is intended to be extended by interfaces which represent specific abilities of a type of sensor and thus of a type of PID source.

Method Summary

All Methods Instance Methods Abstract Methods Default Methods
Modifier and Type	Method	Description
`V`	`getPIDValue()`	Get the measured value of the sensor behind this PIDSrc.
`T`	`getSensor()`	Get the sensor behind this PIDSrc.
`default double`	`pidGet()`	Get the PID value measured by this sensor.

Methods inherited from interface edu.wpi.first.wpilibj.PIDSource
getPIDSourceType, setPIDSourceType

- Method Detail
  - getSensor
```
T getSensor()
```
    Get the sensor behind this PIDSrc.
    
    Returns:
    
    the sensor.
  - getPIDValue
```
V getPIDValue()
```
    Get the measured value of the sensor behind this PIDSrc.
    
    Returns:
    
    the value.
  - pidGet
```
default double pidGet()
```
    Get the PID value measured by this sensor.
    
    Specified by:
    
    pidGet in interface edu.wpi.first.wpilibj.PIDSource
    
    Returns:
    
    the PID value.