edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.ProfiledPIDCommand

All Implemented Interfaces:: Sendable, Command

public class ProfiledPIDCommand
extends CommandBase

A command that controls an output with a ProfiledPIDController. Runs forever by default - to add exit conditions and/or other behavior, subclass this class. The controller calculation and output are performed synchronously in the command's execute() method.

Field Summary

Fields
Modifier and Type	Field	Description
`protected ProfiledPIDController`	`m_controller`
`protected Supplier<TrapezoidProfile.State>`	`m_goal`
`protected DoubleSupplier`	`m_measurement`
`protected BiConsumer<Double,TrapezoidProfile.State>`	`m_useOutput`

Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

m_requirements

Constructor Summary

Constructors
Constructor	Description
`ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, double goal, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)`	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
`ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, TrapezoidProfile.State goal, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)`	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
`ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, DoubleSupplier goalSource, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)`	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
`ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, Supplier<TrapezoidProfile.State> goalSource, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)`	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.

Method Summary

Modifier and Type	Method	Description
`void`	`end(boolean interrupted)`	The action to take when the command ends.
`void`	`execute()`	The main body of a command.
`ProfiledPIDController`	`getController()`	Returns the ProfiledPIDController used by the command.
`void`	`initialize()`	The initial subroutine of a command.

Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase

addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName

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.wpilibj2.command.Command

alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, hasRequirement, isFinished, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout

Field Details
- m_controller
  
  protected final ProfiledPIDController m_controller
- m_measurement
  
  protected DoubleSupplier m_measurement
- m_goal
  
  protected Supplier<TrapezoidProfile.State> m_goal
- m_useOutput
  
  protected BiConsumer<Double,TrapezoidProfile.State> m_useOutput
Constructor Details
- ProfiledPIDCommand
  
  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, Supplier<TrapezoidProfile.State> goalSource, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)
  
  Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is specified.
  
  Parameters:
  
  controller - the controller that controls the output.
  
  measurementSource - the measurement of the process variable
  
  goalSource - the controller's goal
  
  useOutput - the controller's output
  
  requirements - the subsystems required by this command
- ProfiledPIDCommand
  
  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, DoubleSupplier goalSource, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)
  
  Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is implicitly zero.
  
  Parameters:
  
  controller - the controller that controls the output.
  
  measurementSource - the measurement of the process variable
  
  goalSource - the controller's goal
  
  useOutput - the controller's output
  
  requirements - the subsystems required by this command
- ProfiledPIDCommand
  
  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, TrapezoidProfile.State goal, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)
  
  Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is specified.
  
  Parameters:
  
  controller - the controller that controls the output.
  
  measurementSource - the measurement of the process variable
  
  goal - the controller's goal
  
  useOutput - the controller's output
  
  requirements - the subsystems required by this command
- ProfiledPIDCommand
  
  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, double goal, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)
  
  Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is implicitly zero.
  
  Parameters:
  
  controller - the controller that controls the output.
  
  measurementSource - the measurement of the process variable
  
  goal - the controller's goal
  
  useOutput - the controller's output
  
  requirements - the subsystems required by this command
Method Details
- initialize
  
  public void initialize()
  
  Description copied from interface: Command
  
  The initial subroutine of a command. Called once when the command is initially scheduled.
- execute
  
  public void execute()
  
  Description copied from interface: Command
  
  The main body of a command. Called repeatedly while the command is scheduled.
- end
  
  public void end(boolean interrupted)
  
  Description copied from interface: Command
  
  The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.
  Do not schedule commands here that share requirements with this command. Use Command.andThen(Command...) instead.
  
  Parameters:
  
  interrupted - whether the command was interrupted/canceled
- getController
  
  public ProfiledPIDController getController()
  
  Returns the ProfiledPIDController used by the command.
  
  Returns:
  
  The ProfiledPIDController

Class ProfiledPIDCommand