Package frc.robot.subsystems.swervedrive2.swervelib.parser

Class PIDFConfig

java.lang.Object

frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig

public class PIDFConfig
extends Object

Hold the PIDF and Integral Zone values for a PID.

Field Summary

Fields

Modifier and Type	Field	Description
double	d	Derivative Gain for PID.
double	f	Feedforward value for PID.
double	i	Integral Gain for PID.
double	iz	Integral zone of the PID.
PIDFRange	output	The PIDF output range.
double	p	Proportional Gain for PID.

Constructor Summary

Constructors

Constructor	Description
PIDFConfig()	Used when parsing PIDF values from JSON.
PIDFConfig(double p, double d)	PIDF Config constructor to contain the values.
PIDFConfig(double p, double i, double d)	PIDF Config constructor to contain the values.
PIDFConfig(double p, double i, double d, double f)	PIDF Config constructor to contain the values.
PIDFConfig(double p, double i, double d, double f, double iz)	PIDF Config constructor to contain the values.

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.controller.PIDController	createPIDController()	Create a PIDController from the PID values.

Methods inherited from class java.lang.Object

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

Field Detail

p

public double p

Proportional Gain for PID.

i

public double i

Integral Gain for PID.

d

public double d

Derivative Gain for PID.

f

public double f

Feedforward value for PID.

iz

public double iz

Integral zone of the PID.

output

public PIDFRange output

The PIDF output range.

Constructor Detail

PIDFConfig

public PIDFConfig()

Used when parsing PIDF values from JSON.

PIDFConfig

public PIDFConfig(double p,
                  double i,
                  double d,
                  double f,
                  double iz)

PIDF Config constructor to contain the values.

Parameters:

p - P gain.

i - I gain.

d - D gain.

f - F gain.

iz - Intergral zone.

PIDFConfig

public PIDFConfig(double p,
                  double i,
                  double d,
                  double f)

PIDF Config constructor to contain the values.

Parameters:

p - P gain.

i - I gain.

d - D gain.

f - F gain.

PIDFConfig

public PIDFConfig(double p,
                  double i,
                  double d)

PIDF Config constructor to contain the values.

Parameters:

p - P gain.

i - I gain.

d - D gain.

PIDFConfig

public PIDFConfig(double p,
                  double d)

PIDF Config constructor to contain the values.

Parameters:

p - P gain.

d - D gain.

Method Detail

createPIDController

public edu.wpi.first.math.controller.PIDController createPIDController()

Create a PIDController from the PID values.

Returns:

PIDController.