Package edu.wpi.first.wpilibj.command

Class PIDCommand

java.lang.Object

edu.wpi.first.wpilibj.command.Command

edu.wpi.first.wpilibj.command.PIDCommand

All Implemented Interfaces:

Sendable, AutoCloseable

public abstract class PIDCommand
extends Command

This class defines a Command which interacts heavily with a PID loop.

It provides some convenience methods to run an internal PIDController . It will also start and stop said PIDController when the PIDCommand is first initialized and ended/interrupted.

Constructor Summary

Constructors

Constructor	Description
PIDCommand(double p, double i, double d)	Instantiates a PIDCommand that will use the given p, i and d values.
PIDCommand(double p, double i, double d, double period)	Instantiates a PIDCommand that will use the given p, i and d values.
PIDCommand(double p, double i, double d, double period, Subsystem subsystem)	Instantiates a PIDCommand that will use the given p, i and d values.
PIDCommand(double p, double i, double d, Subsystem subsystem)	Instantiates a PIDCommand that will use the given p, i and d values.
PIDCommand(String name, double p, double i, double d)	Instantiates a PIDCommand that will use the given p, i and d values.
PIDCommand(String name, double p, double i, double d, double period)	Instantiates a PIDCommand that will use the given p, i and d values.
PIDCommand(String name, double p, double i, double d, double period, Subsystem subsystem)	Instantiates a PIDCommand that will use the given p, i and d values.
PIDCommand(String name, double p, double i, double d, Subsystem subsystem)	Instantiates a PIDCommand that will use the given p, i and d values.

Method Summary

Modifier and Type	Method	Description
protected PIDController	getPIDController()	Returns the PIDController used by this PIDCommand.
protected double	getPosition()	Returns the current position.
protected double	getSetpoint()	Returns the setpoint.
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.
protected abstract double	returnPIDInput()	Returns the input for the pid loop.
protected void	setInputRange(double minimumInput, double maximumInput)	Sets the maximum and minimum values expected from the input and setpoint.
protected void	setSetpoint(double setpoint)	Sets the setpoint to the given value.
void	setSetpointRelative(double deltaSetpoint)	Adds the given value to the setpoint.
protected abstract void	usePIDOutput(double output)	Uses the value that the pid loop calculated.

Methods inherited from class edu.wpi.first.wpilibj.command.Command

cancel, clearRequirements, close, doesRequire, end, execute, getGroup, getName, getSubsystem, initialize, interrupted, isCanceled, isCompleted, isFinished, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setName, setRunWhenDisabled, setSubsystem, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled

Methods inherited from class java.lang.Object

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

Constructor Details

PIDCommand

public PIDCommand(String name, double p, double i, double d)

Instantiates a PIDCommand that will use the given p, i and d values.

Parameters:

name - the name of the command

p - the proportional value

i - the integral value

d - the derivative value

PIDCommand

public PIDCommand(String name, double p, double i, double d, double period)

Instantiates a PIDCommand that will use the given p, i and d values. It will also space the time between PID loop calculations to be equal to the given period.

Parameters:

name - the name

p - the proportional value

i - the integral value

d - the derivative value

period - the time (in seconds) between calculations

PIDCommand

public PIDCommand(double p, double i, double d)

Instantiates a PIDCommand that will use the given p, i and d values. It will use the class name as its name.

Parameters:

p - the proportional value

i - the integral value

d - the derivative value

PIDCommand

public PIDCommand(double p, double i, double d, double period)

Instantiates a PIDCommand that will use the given p, i and d values. It will use the class name as its name. It will also space the time between PID loop calculations to be equal to the given period.

Parameters:

p - the proportional value

i - the integral value

d - the derivative value

period - the time (in seconds) between calculations

PIDCommand

public PIDCommand(String name, double p, double i, double d, Subsystem subsystem)

Instantiates a PIDCommand that will use the given p, i and d values.

Parameters:

name - the name of the command

p - the proportional value

i - the integral value

d - the derivative value

subsystem - the subsystem that this command requires

PIDCommand

public PIDCommand(String name, double p, double i, double d, double period, Subsystem subsystem)

Instantiates a PIDCommand that will use the given p, i and d values. It will also space the time between PID loop calculations to be equal to the given period.

Parameters:

name - the name

p - the proportional value

i - the integral value

d - the derivative value

period - the time (in seconds) between calculations

subsystem - the subsystem that this command requires

PIDCommand

public PIDCommand(double p, double i, double d, Subsystem subsystem)

Instantiates a PIDCommand that will use the given p, i and d values. It will use the class name as its name.

Parameters:

p - the proportional value

i - the integral value

d - the derivative value

subsystem - the subsystem that this command requires

PIDCommand

public PIDCommand(double p, double i, double d, double period, Subsystem subsystem)

Instantiates a PIDCommand that will use the given p, i and d values. It will use the class name as its name. It will also space the time between PID loop calculations to be equal to the given period.

Parameters:

p - the proportional value

i - the integral value

d - the derivative value

period - the time (in seconds) between calculations

subsystem - the subsystem that this command requires

Method Details

getPIDController

protected PIDController getPIDController()

Returns the PIDController used by this PIDCommand. Use this if you would like to fine tune the pid loop.

Returns:

the PIDController used by this PIDCommand

setSetpointRelative

public void setSetpointRelative(double deltaSetpoint)

Adds the given value to the setpoint. If setInputRange(...) was used, then the bounds will still be honored by this method.

Parameters:

deltaSetpoint - the change in the setpoint

setSetpoint

protected void setSetpoint(double setpoint)

Sets the setpoint to the given value. If setInputRange(...) was called, then the given setpoint will be trimmed to fit within the range.

Parameters:

setpoint - the new setpoint

getSetpoint

protected double getSetpoint()

Returns the setpoint.

Returns:

the setpoint

getPosition

protected double getPosition()

Returns the current position.

Returns:

the current position

setInputRange

protected void setInputRange(double minimumInput, double maximumInput)

Sets the maximum and minimum values expected from the input and setpoint.

Parameters:

minimumInput - the minimum value expected from the input and setpoint

maximumInput - the maximum value expected from the input and setpoint

returnPIDInput

protected abstract double returnPIDInput()

Returns the input for the pid loop.

It returns the input for the pid loop, so if this command was based off of a gyro, then it should return the angle of the gyro.

All subclasses of PIDCommand must override this method.

This method will be called in a different thread then the Scheduler thread.

Returns:

the value the pid loop should use as input

usePIDOutput

protected abstract void usePIDOutput(double output)

Uses the value that the pid loop calculated. The calculated value is the "output" parameter. This method is a good time to set motor values, maybe something along the lines of driveline.tankDrive(output, -output)

All subclasses of PIDCommand must override this method.

This method will be called in a different thread then the Scheduler thread.

Parameters:

output - the value the pid loop calculated

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Overrides:

initSendable in class Command

Parameters:

builder - sendable builder