Package edu.wpi.first.wpilibj.pidwrappers

Class PIDAnalogGyro

java.lang.Object

edu.wpi.first.wpilibj.AnalogGyro

edu.wpi.first.wpilibj.pidwrappers.PIDAnalogGyro

All Implemented Interfaces:

Sendable, Gyro, PIDSource, AutoCloseable

@Deprecated(since="2022",
            forRemoval=true)
public class PIDAnalogGyro
extends AnalogGyro
implements PIDSource

Deprecated, for removal: This API element is subject to removal in a future version.

Use PIDController which doesn't require this wrapper.

Wrapper so that PIDSource is implemented for AnalogGyro for old PIDController.

Field Summary

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

m_analog

Constructor Summary

Constructors

Constructor	Description
PIDAnalogGyro(int channel)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDAnalogGyro(int channel, int center, double offset)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDAnalogGyro(AnalogInput channel)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDAnalogGyro(AnalogInput channel, int center, double offset)	Deprecated, for removal: This API element is subject to removal in a future version.

Method Summary

Modifier and Type	Method	Description
PIDSourceType	getPIDSourceType()	Deprecated, for removal: This API element is subject to removal in a future version. Get which parameter of the device you are using as a process control variable.
double	pidGet()	Deprecated, for removal: This API element is subject to removal in a future version. Get the output of the gyro for use with PIDControllers.
void	setPIDSourceType(PIDSourceType pidSource)	Deprecated, for removal: This API element is subject to removal in a future version. Set which parameter of the gyro you are using as a process control variable.

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

calibrate, close, getAnalogInput, getAngle, getCenter, getOffset, getRate, initGyro, initSendable, reset, setDeadband, setSensitivity

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.interfaces.Gyro

getRotation2d

Constructor Details

PIDAnalogGyro

public PIDAnalogGyro(int channel)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDAnalogGyro

public PIDAnalogGyro(AnalogInput channel)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDAnalogGyro

public PIDAnalogGyro(int channel, int center, double offset)

Deprecated, for removal: This API element is subject to removal in a future version.

PIDAnalogGyro

public PIDAnalogGyro(AnalogInput channel, int center, double offset)

Deprecated, for removal: This API element is subject to removal in a future version.

Method Details

setPIDSourceType

public void setPIDSourceType(PIDSourceType pidSource)

Deprecated, for removal: This API element is subject to removal in a future version.

Set which parameter of the gyro you are using as a process control variable. The Gyro class supports the rate and displacement parameters

Specified by:

setPIDSourceType in interface PIDSource

Parameters:

pidSource - An enum to select the parameter.

getPIDSourceType

public PIDSourceType getPIDSourceType()

Deprecated, for removal: This API element is subject to removal in a future version.

Description copied from interface: PIDSource

Get which parameter of the device you are using as a process control variable.

Specified by:

getPIDSourceType in interface PIDSource

Returns:

the currently selected PID source parameter

pidGet

public double pidGet()

Deprecated, for removal: This API element is subject to removal in a future version.

Get the output of the gyro for use with PIDControllers. May be the angle or rate depending on the set PIDSourceType

Specified by:

pidGet in interface PIDSource

Returns:

the output according to the gyro