Package ca.team3161.lib.robot.pid

Class TractionController

java.lang.Object

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

ca.team3161.lib.robot.pid.VelocityController

ca.team3161.lib.robot.pid.TractionController

All Implemented Interfaces:

PID<edu.wpi.first.wpilibj.pidwrappers.PIDEncoder,java.lang.Float>, PIDRateValueSrc<edu.wpi.first.wpilibj.pidwrappers.PIDEncoder>, PIDSrc<edu.wpi.first.wpilibj.pidwrappers.PIDEncoder,java.lang.Float>, ComposedComponent<java.lang.Object>, edu.wpi.first.wpilibj.PIDSource, edu.wpi.first.wpilibj.SpeedController

public class TractionController
extends VelocityController

A VelocityController with toggleable "traction control". When disabled, the PID control is bypassed and the input values are fed directly into the backing SpeedController instance.

Field Summary

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

deadband, inverted, maxIntegralError, maxRotationalRate, speedController, target

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

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

Constructor Summary

Constructors

Constructor	Description
TractionController(edu.wpi.first.wpilibj.SpeedController speedController, PIDRateValueSrc<edu.wpi.first.wpilibj.pidwrappers.PIDEncoder> encoderPidSrc, float maxRotationalRate, float kP, float kI, float kD, float maxIntegralError, float deadband)
TractionController(edu.wpi.first.wpilibj.SpeedController speedController, edu.wpi.first.wpilibj.pidwrappers.PIDEncoder encoder, float maxRotationalRate, float kP, float kI, float kD, float maxIntegralError, float deadband)

Method Summary

Modifier and Type	Method	Description
boolean	isTractionEnabled()	Check if traction control is enabled
void	set(double v)	Set the target rotational rate of this VelocityController.
void	setTractionEnabled(boolean tractionEnabled)	Enable traction control

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

disable, get, getComposedComponents, getInverted, getPIDSourceType, getPIDValue, getRate, getSensor, pid, setInverted, setPIDSourceType, stopMotor

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

Methods inherited from interface ca.team3161.lib.robot.pid.PIDSrc

pidGet

Methods inherited from interface edu.wpi.first.wpilibj.SpeedController

setVoltage

Constructor Detail

TractionController

public TractionController(edu.wpi.first.wpilibj.SpeedController speedController,
                          edu.wpi.first.wpilibj.pidwrappers.PIDEncoder encoder,
                          float maxRotationalRate,
                          float kP,
                          float kI,
                          float kD,
                          float maxIntegralError,
                          float deadband)

TractionController

public TractionController(edu.wpi.first.wpilibj.SpeedController speedController,
                          PIDRateValueSrc<edu.wpi.first.wpilibj.pidwrappers.PIDEncoder> encoderPidSrc,
                          float maxRotationalRate,
                          float kP,
                          float kI,
                          float kD,
                          float maxIntegralError,
                          float deadband)

Method Detail

setTractionEnabled

public void setTractionEnabled(boolean tractionEnabled)

Enable traction control

Parameters:

tractionEnabled - whether to enable traction control

isTractionEnabled

public boolean isTractionEnabled()

Check if traction control is enabled

Returns:

the current traction control state

set

public void set(double v)

Description copied from class: VelocityController

Set the target rotational rate of this VelocityController. This method should be called very frequently, as the PID loop only iterates when this method is called.

Specified by:

set in interface edu.wpi.first.wpilibj.SpeedController

Overrides:

set in class VelocityController

Parameters:

v - target value.