Package edu.wpi.first.wpilibj.pidwrappers

Class PIDUltrasonic

java.lang.Object

edu.wpi.first.wpilibj.Ultrasonic

edu.wpi.first.wpilibj.pidwrappers.PIDUltrasonic

All Implemented Interfaces:

Sendable, PIDSource, AutoCloseable

@Deprecated(since="2022",
            forRemoval=true)
public class PIDUltrasonic
extends Ultrasonic
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 Ultrasonic for old PIDController.

Field Summary

Fields

Modifier and Type	Field	Description
protected PIDSourceType	m_pidSource	Deprecated, for removal: This API element is subject to removal in a future version.

Constructor Summary

Constructors

Constructor	Description
PIDUltrasonic(int pingChannel, int echoChannel)	Deprecated, for removal: This API element is subject to removal in a future version.
PIDUltrasonic(DigitalOutput pingChannel, DigitalInput echoChannel)	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 range in the inches for the PIDSource base object.
void	setPIDSourceType(PIDSourceType pidSource)	Deprecated, for removal: This API element is subject to removal in a future version. Set which parameter of the device you are using as a process control variable.

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

close, getEchoChannel, getRangeInches, getRangeMM, initSendable, isEnabled, isRangeValid, ping, setAutomaticMode, setEnabled

Methods inherited from class java.lang.Object

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

Field Details

m_pidSource

protected PIDSourceType m_pidSource

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

Constructor Details

PIDUltrasonic

public PIDUltrasonic(int pingChannel, int echoChannel)

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

PIDUltrasonic

public PIDUltrasonic(DigitalOutput pingChannel, DigitalInput echoChannel)

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.

Description copied from interface: PIDSource

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

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 range in the inches for the PIDSource base object.

Specified by:

pidGet in interface PIDSource

Returns:

The range in inches