Package ca.team3161.lib.utils

Class SmartPIDTuner

java.lang.Object

ca.team3161.lib.robot.subsystem.AbstractSubsystem

ca.team3161.lib.robot.subsystem.AbstractPooledSubsystem

ca.team3161.lib.robot.subsystem.RepeatingPooledSubsystem

ca.team3161.lib.utils.SmartPIDTuner

All Implemented Interfaces:

LifecycleListener, Subsystem

public class SmartPIDTuner
extends RepeatingPooledSubsystem
implements LifecycleListener

Nested Class Summary

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

AbstractSubsystem.RunTask

Field Summary

Fields

Modifier and Type	Field	Description
protected SmartDashboardTuner	dTuner
protected SmartDashboardTuner	iTuner
protected PID<?,?>	pid
protected java.lang.String	prefix
protected SmartDashboardTuner	pTuner

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

job, resourceLocks, THREAD_PRIORITY

Constructor Summary

Constructors

Constructor	Description
SmartPIDTuner(java.lang.String prefix, PID<?,?> pid, double defaultKP, double defaultKI, double defaultKD)

Method Summary

Modifier and Type	Method	Description
void	defineResources()	Define the set of resourceLocks required for this Subsystem's task.
protected java.lang.String	getKDLabel()
protected java.lang.String	getKILabel()
protected java.lang.String	getKPLabel()
void	onLifecycleChange(LifecycleEvent event)
void	task()	The background task to run.

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

prefix

protected final java.lang.String prefix

pid

protected final PID<?,?> pid

pTuner

protected final SmartDashboardTuner pTuner

iTuner

protected final SmartDashboardTuner iTuner

dTuner

protected final SmartDashboardTuner dTuner

Constructor Detail

SmartPIDTuner

public SmartPIDTuner(java.lang.String prefix,
                     PID<?,?> pid,
                     double defaultKP,
                     double defaultKI,
                     double defaultKD)

Method Detail

getKPLabel

protected java.lang.String getKPLabel()

getKILabel

protected java.lang.String getKILabel()

getKDLabel

protected java.lang.String getKDLabel()

defineResources

public void defineResources()

Description copied from interface: Subsystem

Define the set of resourceLocks required for this Subsystem's task.

Specified by:

defineResources in interface Subsystem

See Also:

AbstractSubsystem.require(Object)

task

public void task()

Description copied from interface: Subsystem

The background task to run.

Specified by:

task in interface Subsystem

onLifecycleChange

public void onLifecycleChange(LifecycleEvent event)

Specified by:

onLifecycleChange in interface LifecycleListener