Package edu.wpi.first.wpilibj2.command

Class ProfiledPIDSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem

All Implemented Interfaces:

Sendable, Subsystem

public abstract class ProfiledPIDSubsystem
extends SubsystemBase

A subsystem that uses a ProfiledPIDController to control an output. The controller is run synchronously from the subsystem's periodic() method.

Field Summary

Fields

Modifier and Type	Field	Description
protected ProfiledPIDController	m_controller
protected boolean	m_enabled

Constructor Summary

Constructors

Constructor	Description
ProfiledPIDSubsystem(ProfiledPIDController controller)	Creates a new ProfiledPIDSubsystem.
ProfiledPIDSubsystem(ProfiledPIDController controller, double initialPosition)	Creates a new ProfiledPIDSubsystem.

Method Summary

Modifier and Type	Method	Description
void	disable()	Disables the PID control.
void	enable()	Enables the PID control.
ProfiledPIDController	getController()
protected abstract double	getMeasurement()	Returns the measurement of the process variable used by the ProfiledPIDController.
boolean	isEnabled()	Returns whether the controller is enabled.
void	periodic()	This method is called periodically by the CommandScheduler.
void	setGoal(double goal)	Sets the goal state for the subsystem.
void	setGoal(TrapezoidProfile.State goal)	Sets the goal state for the subsystem.
protected abstract void	useOutput(double output, TrapezoidProfile.State setpoint)	Uses the output from the ProfiledPIDController.

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

addChild, getName, getSubsystem, initSendable, 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.wpilibj2.command.Subsystem

getCurrentCommand, getDefaultCommand, register, setDefaultCommand, simulationPeriodic

Field Details

m_controller

protected final ProfiledPIDController m_controller

m_enabled

protected boolean m_enabled

Constructor Details

ProfiledPIDSubsystem

public ProfiledPIDSubsystem(ProfiledPIDController controller, double initialPosition)

Creates a new ProfiledPIDSubsystem.

Parameters:

controller - the ProfiledPIDController to use

initialPosition - the initial goal position of the controller

ProfiledPIDSubsystem

public ProfiledPIDSubsystem(ProfiledPIDController controller)

Creates a new ProfiledPIDSubsystem. Initial goal position is zero.

Parameters:

controller - the ProfiledPIDController to use

Method Details

periodic

public void periodic()

Description copied from interface: Subsystem

This method is called periodically by the CommandScheduler. Useful for updating subsystem-specific state that you don't want to offload to a Command. Teams should try to be consistent within their own codebases about which responsibilities will be handled by Commands, and which will be handled here.

getController

public ProfiledPIDController getController()

setGoal

public void setGoal(TrapezoidProfile.State goal)

Sets the goal state for the subsystem.

Parameters:

goal - The goal state for the subsystem's motion profile.

setGoal

public void setGoal(double goal)

Sets the goal state for the subsystem. Goal velocity assumed to be zero.

Parameters:

goal - The goal position for the subsystem's motion profile.

useOutput

protected abstract void useOutput(double output, TrapezoidProfile.State setpoint)

Uses the output from the ProfiledPIDController.

Parameters:

output - the output of the ProfiledPIDController

setpoint - the setpoint state of the ProfiledPIDController, for feedforward

getMeasurement

protected abstract double getMeasurement()

Returns the measurement of the process variable used by the ProfiledPIDController.

Returns:

the measurement of the process variable

enable

public void enable()

Enables the PID control. Resets the controller.

disable

public void disable()

Disables the PID control. Sets output to zero.

isEnabled

public boolean isEnabled()

Returns whether the controller is enabled.

Returns:

Whether the controller is enabled.