Package org.hyperonline.hyperlib.pid

Class PrefPIDController

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.PIDBase

edu.wpi.first.wpilibj.PIDController

org.hyperonline.hyperlib.pid.PrefPIDController

All Implemented Interfaces:

edu.wpi.first.wpilibj.Controller, edu.wpi.first.wpilibj.PIDInterface, edu.wpi.first.wpilibj.PIDOutput, edu.wpi.first.wpilibj.Sendable, java.lang.AutoCloseable

Direct Known Subclasses:

PassivePIDController

public class PrefPIDController
extends edu.wpi.first.wpilibj.PIDController

This class wraps a PIDController, using the Preferences file to store and load parameters. The methods which set parameters only set defaults, and the Preferences file is always used if it is set. This allows for easy tuning of constants with persistent storage, without having to recompile the code.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.PIDBase

edu.wpi.first.wpilibj.PIDBase.AbsoluteTolerance, edu.wpi.first.wpilibj.PIDBase.NullTolerance, edu.wpi.first.wpilibj.PIDBase.PercentageTolerance, edu.wpi.first.wpilibj.PIDBase.Tolerance

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.PIDBase

kDefaultPeriod, m_enabled, m_pidInput, m_pidOutput, m_pidWriteMutex, m_setpointTimer, m_thisMutex

Constructor Summary

Constructors

Constructor	Description
PrefPIDController(java.lang.String prefString, double Kp, double Ki, double Kd, double Kf, edu.wpi.first.wpilibj.PIDSource source, edu.wpi.first.wpilibj.PIDOutput output)
PrefPIDController(java.lang.String prefString, double Kp, double Ki, double Kd, double Kf, edu.wpi.first.wpilibj.PIDSource source, edu.wpi.first.wpilibj.PIDOutput output, double period)
PrefPIDController(java.lang.String prefString, double Kp, double Ki, double Kd, edu.wpi.first.wpilibj.PIDSource source, edu.wpi.first.wpilibj.PIDOutput output)
PrefPIDController(java.lang.String prefString, double Kp, double Ki, double Kd, edu.wpi.first.wpilibj.PIDSource source, edu.wpi.first.wpilibj.PIDOutput output, double period)

Method Summary

Modifier and Type	Method	Description
double	getTolerance()	Gets the tolerance of the PID
boolean	isAbove(double target, boolean reverse)	Is the system above the given target
boolean	isBelow(double target, boolean reverse)	Is the system below the given target
void	setAbsoluteTolerance(double tolerance)	Set the default absolute tolerance.
void	setOutputRange(double min, double max)	Set the default output range.
void	setPercentTolerance(double tolerance)	Deprecated.
void	setPID(double p, double i, double d)	Deprecated.
void	setPID(double p, double i, double d, double f)	Deprecated.

Methods inherited from class edu.wpi.first.wpilibj.PIDController

close, disable, enable, initSendable, isEnabled, reset, setEnabled

Methods inherited from class edu.wpi.first.wpilibj.PIDBase

calculate, calculateFeedForward, get, getAvgError, getContinuousError, getD, getDeltaSetpoint, getError, getF, getI, getP, getSetpoint, onTarget, pidWrite, setContinuous, setContinuous, setD, setF, setI, setInputRange, setP, setSetpoint, setTolerance, setToleranceBuffer

Methods inherited from class edu.wpi.first.wpilibj.SendableBase

addChild, free, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class java.lang.Object

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

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

setName

Constructor Detail

PrefPIDController

public PrefPIDController(java.lang.String prefString,
                         double Kp,
                         double Ki,
                         double Kd,
                         edu.wpi.first.wpilibj.PIDSource source,
                         edu.wpi.first.wpilibj.PIDOutput output)

Parameters:

prefString - A string to identify preferences

Kp - the default value for P

Ki - the default value for I

Kd - the default value for D

source - the source of feedback

output - the output of the PID

See Also:

PIDController(double, double, double, PIDSource, PIDOutput)

PrefPIDController

public PrefPIDController(java.lang.String prefString,
                         double Kp,
                         double Ki,
                         double Kd,
                         edu.wpi.first.wpilibj.PIDSource source,
                         edu.wpi.first.wpilibj.PIDOutput output,
                         double period)

Parameters:

prefString - A string to identify preferences

Kp - the default value for P

Ki - the default value for I

Kd - the default value for D

source - the source of feedback

output - the output of the PID

period - the period to run the PID controller at

See Also:

PIDController(double, double, double, PIDSource, PIDOutput, double)

PrefPIDController

public PrefPIDController(java.lang.String prefString,
                         double Kp,
                         double Ki,
                         double Kd,
                         double Kf,
                         edu.wpi.first.wpilibj.PIDSource source,
                         edu.wpi.first.wpilibj.PIDOutput output)

Parameters:

prefString - A string to identify preferences

Kp - the default value for P

Ki - the default value for I

Kd - the default value for D

Kf - the default value for F

source - the source of feedback

output - the output of the PID

See Also:

PIDController(double, double, double, double, PIDSource, PIDOutput)

PrefPIDController

public PrefPIDController(java.lang.String prefString,
                         double Kp,
                         double Ki,
                         double Kd,
                         double Kf,
                         edu.wpi.first.wpilibj.PIDSource source,
                         edu.wpi.first.wpilibj.PIDOutput output,
                         double period)

Parameters:

prefString - A string to identify preferences

Kp - the default value for P

Ki - the default value for I

Kd - the default value for D

Kf - the default value for F

source - the source of feedback

output - the output of the PID

period - the period to run the PID controller at

See Also:

PIDController(double, double, double, double, PIDSource, PIDOutput, double)

Method Detail

setPID

@Deprecated
public void setPID(double p,
                   double i,
                   double d,
                   double f)

Deprecated.

Overrides:

setPID in class edu.wpi.first.wpilibj.PIDBase

setPID

@Deprecated
public void setPID(double p,
                   double i,
                   double d)

Deprecated.

Specified by:

setPID in interface edu.wpi.first.wpilibj.PIDInterface

Overrides:

setPID in class edu.wpi.first.wpilibj.PIDBase

setPercentTolerance

@Deprecated
public void setPercentTolerance(double tolerance)

Deprecated.

Overrides:

setPercentTolerance in class edu.wpi.first.wpilibj.PIDBase

setAbsoluteTolerance

public void setAbsoluteTolerance(double tolerance)

Set the default absolute tolerance. In most cases it will only matter what you pass to this the first time you call it, since it will then add an entry to the preferences file if one does not yet exist.

Overrides:

setAbsoluteTolerance in class edu.wpi.first.wpilibj.PIDBase

Parameters:

tolerance - The new default value for absolute tolerance.

See Also:

PIDBase.setAbsoluteTolerance(double)

setOutputRange

public void setOutputRange(double min,
                           double max)

Set the default output range. In most cases it will only matter what you pass to this the first time you call it, since it will then add an entry to the preferences file if one does not yet exist.

Overrides:

setOutputRange in class edu.wpi.first.wpilibj.PIDBase

Parameters:

min - The lower bound on the output. By default -1.

max - The upper bound on the output. By default 1.

See Also:

PIDBase.setOutputRange(double, double)

getTolerance

public double getTolerance()

Gets the tolerance of the PID

Returns:

the tolerance of this PID

isAbove

public boolean isAbove(double target,
                       boolean reverse)

Is the system above the given target

Parameters:

target - setpoint to check if the PID system is above

reverse - is the system reversed

Returns:

is the system above the given target

isBelow

public boolean isBelow(double target,
                       boolean reverse)

Is the system below the given target

Parameters:

target - setpoint to check if the PID system is below

reverse - is the system reversed

Returns:

is the system below the given target