Package ca.team3161.lib.robot.pid

Class SimplePID

java.lang.Object

ca.team3161.lib.robot.pid.AbstractPID<edu.wpi.first.wpilibj.PIDSource,java.lang.Float>

ca.team3161.lib.robot.pid.SimplePID

All Implemented Interfaces:

PID<edu.wpi.first.wpilibj.PIDSource,java.lang.Float>, ComposedComponent<PIDSrc<edu.wpi.first.wpilibj.PIDSource,java.lang.Float>>

public class SimplePID
extends AbstractPID<edu.wpi.first.wpilibj.PIDSource,java.lang.Float>
implements ComposedComponent<PIDSrc<edu.wpi.first.wpilibj.PIDSource,java.lang.Float>>

A plain, general PID implementation. 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.

Field Summary

Fields inherited from class ca.team3161.lib.robot.pid.AbstractPID

deadband, deadbandPeriod, deadbandUnit, deltaError, integralError, kD, kI, kP, lastTimeNotAtTarget, prevError, source

Constructor Summary

Constructors

Constructor	Description
SimplePID(PIDSrc<edu.wpi.first.wpilibj.PIDSource,java.lang.Float> source, float deadband, int deadbandPeriod, java.util.concurrent.TimeUnit deadbandUnit, float kP, float kI, float kD)	Create a new SimplePID instance.

Method Summary

Modifier and Type	Method	Description
java.util.Collection<PIDSrc<edu.wpi.first.wpilibj.PIDSource,java.lang.Float>>	getComposedComponents()	Get the composed components within this one.
java.lang.Float	pid(java.lang.Float target)	Iterate the PID loop.

Methods inherited from class ca.team3161.lib.robot.pid.AbstractPID

atTarget, clear, getkD, getkI, getkP, getSrc, setkD, setkI, setkP

Methods inherited from class java.lang.Object

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

Constructor Detail

SimplePID

public SimplePID(PIDSrc<edu.wpi.first.wpilibj.PIDSource,java.lang.Float> source,
                 float deadband,
                 int deadbandPeriod,
                 java.util.concurrent.TimeUnit deadbandUnit,
                 float kP,
                 float kI,
                 float kD)

Create a new SimplePID instance.

Parameters:

source - the PIDSrc source sensor

deadband - filter value - do not act when current error is within this bound

deadbandPeriod - the amount of time to remain within acceptable error of the target value before claiming to actually be at the target

deadbandUnit - the units for deadbandPeriod

kP - P constant

kI - I constant

kD - D constant

Method Detail

pid

public java.lang.Float pid(java.lang.Float target)

Iterate the PID loop.

Specified by:

pid in interface PID<edu.wpi.first.wpilibj.PIDSource,java.lang.Float>

Specified by:

pid in class AbstractPID<edu.wpi.first.wpilibj.PIDSource,java.lang.Float>

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

getComposedComponents

public java.util.Collection<PIDSrc<edu.wpi.first.wpilibj.PIDSource,java.lang.Float>> getComposedComponents()

Get the composed components within this one.

Specified by:

getComposedComponents in interface ComposedComponent<PIDSrc<edu.wpi.first.wpilibj.PIDSource,java.lang.Float>>

Returns:

the composed components.