com.explodingbacon.bcnlib.framework

Class PIDController

java.lang.Object

com.explodingbacon.bcnlib.framework.PIDController

All Implemented Interfaces:

java.lang.Runnable

public class PIDController
extends java.lang.Object
implements java.lang.Runnable

All-encompassing PID controller that can be used for rate and for position controllers. Set any tuning parameter to 0 to disable that parameter.

Constructor Summary

Constructors

Constructor and Description
PIDController(edu.wpi.first.wpilibj.SpeedController m, PIDSource s, double kP, double kI, double kD) Creates a new PIDController object with given values, using the defaults for min and max motor target.
PIDController(edu.wpi.first.wpilibj.SpeedController m, PIDSource s, double kP, double kI, double kD, double min, double max) Creates a new PIDController object with given values.

Method Summary

Modifier and Type	Method and Description
void	disable() Disables controllers of the motor.
void	enable() Enables controllers of the motor.
double	getCurrentError() Get the difference between the target and the current position, in encoder clicks.
double	getCurrentSourceValue() Gets the current value of the PID source.
double	getMotorPower() Get the power that is currently being sent to the motor.
double	getTarget() Get the currently set target.
boolean	isDone() Checks if this PIDController is done.
boolean	isEnabled() Checks if this PIDController is enabled.
void	log()
void	logVerbose()
void	resetSource() Reset the encoder to zero.
void	reTune(double kP, double kI, double kD) On-the-fly re-tuning of the onLoop.
void	run()
void	setExtraCode(java.lang.Runnable r) Sets the code that is run every loop of the PID.
void	setFinishedTolerance(double tolerance) Set the tolerance for determining if the loop is finished.
PIDController	setInputInverted(java.lang.Boolean inverted) Set the PIDController to invert its input
PIDController	setRotational(java.lang.Boolean isRotational) Set the PIDController to invert its input
void	setShouldInstaKill(java.lang.Boolean b)
void	setTarget(double target) Set a new position target.
PIDController	whenFinished(java.lang.Runnable r) Defines code that runs when this PID loop is done.

Methods inherited from class java.lang.Object

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

Constructor Detail

PIDController

public PIDController(edu.wpi.first.wpilibj.SpeedController m,
                     PIDSource s,
                     double kP,
                     double kI,
                     double kD)

Creates a new PIDController object with given values, using the defaults for min and max motor target.

Parameters:

m - Motor to actuate.

s - Encoder to read.

kP - Proportional tuning variable. Set to 0 to disable the P term.

kI - Integral tuning variable. Set to 0 to disable to I term.

kD - Derivative tuning variable. Set to 0 to disable the D term.

PIDController

public PIDController(edu.wpi.first.wpilibj.SpeedController m,
                     PIDSource s,
                     double kP,
                     double kI,
                     double kD,
                     double min,
                     double max)

Creates a new PIDController object with given values.

Parameters:

m - Motor to actuate.

s - Encoder to read.

kP - Proportional tuning variable. Set to 0 to disable the P term.

kI - Integral tuning variable. Set to 0 to disable to I term.

kD - Derivative tuning variable. Set to 0 to disable the D term.

min - The minimum target to the motor. Values below this will be scaled down to 0.

max - The maximum target to the motor. Values above this will be scaled to this value.

Method Detail

enable

public void enable()

Enables controllers of the motor.

disable

public void disable()

Disables controllers of the motor. This also stops the motor

isEnabled

public boolean isEnabled()

Checks if this PIDController is enabled.

Returns:

If this PIDController is enabled.

setTarget

public void setTarget(double target)

Set a new position target.

Parameters:

target - Position target in encoder clicks from encoder zero

getTarget

public double getTarget()

Get the currently set target.

Returns:

Position target in encoder clicks from encoder zero

setInputInverted

public PIDController setInputInverted(java.lang.Boolean inverted)

Set the PIDController to invert its input

Parameters:

inverted - Whether the PIDController should invert its input

Returns:

This PIDController (for method chaining)

setRotational

public PIDController setRotational(java.lang.Boolean isRotational)

Set the PIDController to invert its input

Parameters:

isRotational - Whether the PIDController should treat itself as rotational

Returns:

This PIDController (for method chaining)

getCurrentError

public double getCurrentError()

Get the difference between the target and the current position, in encoder clicks.

Returns:

The current error, in encoder clicks

getMotorPower

public double getMotorPower()

Get the power that is currently being sent to the motor.

Returns:

The power sent to the motor

getCurrentSourceValue

public double getCurrentSourceValue()

Gets the current value of the PID source.

Returns:

The current value of the PID source.

resetSource

public void resetSource()

Reset the encoder to zero.

NOTE: This will reset the encoder object EVERYWHERE it is used.

reTune

public void reTune(double kP,
                   double kI,
                   double kD)

On-the-fly re-tuning of the onLoop. Be careful here, there shouldn't be any reason to use this except to tune. For safety, this disables and resets the PIDController

Parameters:

kP - Proportional tuning variable. Set to 0 to disable the P term.

kI - Integral tuning variable. Set to 0 to disable to I term.

kD - Derivative tuning variable. Set to 0 to disable the D term.

setFinishedTolerance

public void setFinishedTolerance(double tolerance)

Set the tolerance for determining if the loop is finished. Default is 1000

Parameters:

tolerance - The tolerance, in whatever units the PIDSource provides

setShouldInstaKill

public void setShouldInstaKill(java.lang.Boolean b)

isDone

public boolean isDone()

Checks if this PIDController is done.

Returns:

If this PIDController is done.

whenFinished

public PIDController whenFinished(java.lang.Runnable r)

Defines code that runs when this PID loop is done.

Parameters:

r - The code to be run.

Returns:

This PIDController.

setExtraCode

public void setExtraCode(java.lang.Runnable r)

Sets the code that is run every loop of the PID.

Parameters:

r - The code to run.

log

public void log()

logVerbose

public void logVerbose()

run

public void run()

Specified by:

run in interface java.lang.Runnable