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< div class = "subTitle" > < span class = "packageLabelInType" > Package< / span > < a href = "package-summary.html" > swervelib.parser< / a > < / div >
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< h2 title = "Class PIDFConfig" class = "title" > Class PIDFConfig< / h2 >
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< li > < a href = "https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title = "class or interface in java.lang" class = "externalLink" > java.lang.Object< / a > < / li >
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< li > swervelib.parser.PIDFConfig< / li >
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< pre > public class < span class = "typeNameLabel" > PIDFConfig< / span >
extends < a href = "https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title = "class or interface in java.lang" class = "externalLink" > Object< / a > < / pre >
< div class = "block" > Hold the PIDF and Integral Zone values for a PID.< / div >
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< th class = "colFirst" scope = "col" > Modifier and Type< / th >
< th class = "colSecond" scope = "col" > Field< / th >
< th class = "colLast" scope = "col" > Description< / th >
< / tr >
< tr class = "altColor" >
< td class = "colFirst" > < code > double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#d" > d< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Derivative Gain for PID.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
< td class = "colFirst" > < code > double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#f" > f< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Feedforward value for PID.< / div >
< / td >
< / tr >
< tr class = "altColor" >
< td class = "colFirst" > < code > double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#i" > i< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Integral Gain for PID.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
< td class = "colFirst" > < code > double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#iz" > iz< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Integral zone of the PID.< / div >
< / td >
< / tr >
< tr class = "altColor" >
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< td class = "colFirst" > < code > < a href = "deserializer/PIDFRange.html" title = "class in swervelib.parser.deserializer" > PIDFRange< / a > < / code > < / td >
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< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#output" > output< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > The PIDF output range.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
< td class = "colFirst" > < code > double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#p" > p< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Proportional Gain for PID.< / div >
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< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E()" > PIDFConfig< / a > < / span > ()< / code > < / th >
< td class = "colLast" >
< div class = "block" > Used when parsing PIDF values from JSON.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E(double,double)" > PIDFConfig< / a > < / span > ​ (double p,
double d)< / code > < / th >
< td class = "colLast" >
< div class = "block" > PIDF Config constructor to contain the values.< / div >
< / td >
< / tr >
< tr class = "altColor" >
< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E(double,double,double)" > PIDFConfig< / a > < / span > ​ (double p,
double i,
double d)< / code > < / th >
< td class = "colLast" >
< div class = "block" > PIDF Config constructor to contain the values.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E(double,double,double,double)" > PIDFConfig< / a > < / span > ​ (double p,
double i,
double d,
double f)< / code > < / th >
< td class = "colLast" >
< div class = "block" > PIDF Config constructor to contain the values.< / div >
< / td >
< / tr >
< tr class = "altColor" >
< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E(double,double,double,double,double)" > PIDFConfig< / a > < / span > ​ (double p,
double i,
double d,
double f,
double iz)< / code > < / th >
< td class = "colLast" >
< div class = "block" > PIDF Config constructor to contain the values.< / div >
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< tr >
< th class = "colFirst" scope = "col" > Modifier and Type< / th >
< th class = "colSecond" scope = "col" > Method< / th >
< th class = "colLast" scope = "col" > Description< / th >
< / tr >
< tr id = "i0" class = "altColor" >
< td class = "colFirst" > < code > edu.wpi.first.math.controller.PIDController< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#createPIDController()" > createPIDController< / a > < / span > ()< / code > < / th >
< td class = "colLast" >
< div class = "block" > Create a PIDController from the PID values.< / div >
< / td >
< / tr >
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< h4 > p< / h4 >
< pre > public double p< / pre >
< div class = "block" > Proportional Gain for PID.< / div >
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< a id = "i" >
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< h4 > i< / h4 >
< pre > public double i< / pre >
< div class = "block" > Integral Gain for PID.< / div >
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< a id = "d" >
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< h4 > d< / h4 >
< pre > public double d< / pre >
< div class = "block" > Derivative Gain for PID.< / div >
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< h4 > f< / h4 >
< pre > public double f< / pre >
< div class = "block" > Feedforward value for PID.< / div >
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< h4 > iz< / h4 >
< pre > public double iz< / pre >
< div class = "block" > Integral zone of the PID.< / div >
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< pre > public < a href = "deserializer/PIDFRange.html" title = "class in swervelib.parser.deserializer" > PIDFRange< / a > output< / pre >
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< div class = "block" > The PIDF output range.< / div >
< / li >
< / ul >
< / li >
< / ul >
< / section >
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< h4 > PIDFConfig< / h4 >
< pre > public PIDFConfig()< / pre >
< div class = "block" > Used when parsing PIDF values from JSON.< / div >
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< a id = "<init>(double,double,double,double,double)" >
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< h4 > PIDFConfig< / h4 >
< pre > public PIDFConfig​ (double p,
double i,
double d,
double f,
double iz)< / pre >
< div class = "block" > PIDF Config constructor to contain the values.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > p< / code > - P gain.< / dd >
< dd > < code > i< / code > - I gain.< / dd >
< dd > < code > d< / code > - D gain.< / dd >
< dd > < code > f< / code > - F gain.< / dd >
< dd > < code > iz< / code > - Intergral zone.< / dd >
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< a id = "<init>(double,double,double,double)" >
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< h4 > PIDFConfig< / h4 >
< pre > public PIDFConfig​ (double p,
double i,
double d,
double f)< / pre >
< div class = "block" > PIDF Config constructor to contain the values.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > p< / code > - P gain.< / dd >
< dd > < code > i< / code > - I gain.< / dd >
< dd > < code > d< / code > - D gain.< / dd >
< dd > < code > f< / code > - F gain.< / dd >
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< h4 > PIDFConfig< / h4 >
< pre > public PIDFConfig​ (double p,
double i,
double d)< / pre >
< div class = "block" > PIDF Config constructor to contain the values.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > p< / code > - P gain.< / dd >
< dd > < code > i< / code > - I gain.< / dd >
< dd > < code > d< / code > - D gain.< / dd >
< / dl >
< / li >
< / ul >
< a id = "<init>(double,double)" >
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< h4 > PIDFConfig< / h4 >
< pre > public PIDFConfig​ (double p,
double d)< / pre >
< div class = "block" > PIDF Config constructor to contain the values.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > p< / code > - P gain.< / dd >
< dd > < code > d< / code > - D gain.< / dd >
< / dl >
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<!-- ============ METHOD DETAIL ========== -->
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< a id = "createPIDController()" >
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< h4 > createPIDController< / h4 >
< pre class = "methodSignature" > public edu.wpi.first.math.controller.PIDController createPIDController()< / pre >
< div class = "block" > Create a PIDController from the PID values.< / div >
< dl >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > PIDController.< / dd >
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