Package edu.wpi.first.wpilibj2.command

Class PIDSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

edu.wpi.first.wpilibj2.command.PIDSubsystem

All Implemented Interfaces:

Sendable, Subsystem

public abstract class PIDSubsystem
extends SubsystemBase

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

Field Summary

Fields

Modifier and Type	Field	Description
protected PIDController	m_controller
protected boolean	m_enabled

Constructor Summary

Constructors

Constructor	Description
PIDSubsystem(PIDController controller)	Creates a new PIDSubsystem.
PIDSubsystem(PIDController controller, double initialPosition)	Creates a new PIDSubsystem.

Method Summary

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

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 PIDController m_controller

m_enabled

protected boolean m_enabled

Constructor Details

PIDSubsystem

public PIDSubsystem(PIDController controller, double initialPosition)

Creates a new PIDSubsystem.

Parameters:

controller - the PIDController to use

initialPosition - the initial setpoint of the subsystem

PIDSubsystem

public PIDSubsystem(PIDController controller)

Creates a new PIDSubsystem. Initial setpoint is zero.

Parameters:

controller - the PIDController 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 PIDController getController()

setSetpoint

public void setSetpoint(double setpoint)

Sets the setpoint for the subsystem.

Parameters:

setpoint - the setpoint for the subsystem

getSetpoint

public double getSetpoint()

Returns the current setpoint of the subsystem.

Returns:

The current setpoint

useOutput

protected abstract void useOutput(double output, double setpoint)

Uses the output from the PIDController.

Parameters:

output - the output of the PIDController

setpoint - the setpoint of the PIDController (for feedforward)

getMeasurement

protected abstract double getMeasurement()

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

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.