Updated swervelib

swervelib/parser/PIDFConfig.java

@@ -0,0 +1,109 @@
+package frc.robot.subsystems.swervedrive2.swervelib.parser;
+
+import edu.wpi.first.math.controller.PIDController;
+import frc.robot.subsystems.swervedrive2.swervelib.parser.deserializer.PIDFRange;
+
+/**
+ * Hold the PIDF and Integral Zone values for a PID.
+ */
+public class PIDFConfig
+{
+
+  /**
+   * Proportional Gain for PID.
+   */
+  public double p;
+  /**
+   * Integral Gain for PID.
+   */
+  public double i;
+  /**
+   * Derivative Gain for PID.
+   */
+  public double d;
+  /**
+   * Feedforward value for PID.
+   */
+  public double f;
+  /**
+   * Integral zone of the PID.
+   */
+  public double iz;
+
+  /**
+   * The PIDF output range.
+   */
+  public PIDFRange output = new PIDFRange();
+
+  /**
+   * Used when parsing PIDF values from JSON.
+   */
+  public PIDFConfig()
+  {
+  }
+
+  /**
+   * PIDF Config constructor to contain the values.
+   *
+   * @param p  P gain.
+   * @param i  I gain.
+   * @param d  D gain.
+   * @param f  F gain.
+   * @param iz Intergral zone.
+   */
+  public PIDFConfig(double p, double i, double d, double f, double iz)
+  {
+    this.p = p;
+    this.i = i;
+    this.d = d;
+    this.f = f;
+    this.iz = iz;
+  }
+
+  /**
+   * PIDF Config constructor to contain the values.
+   *
+   * @param p P gain.
+   * @param i I gain.
+   * @param d D gain.
+   * @param f F gain.
+   */
+  public PIDFConfig(double p, double i, double d, double f)
+  {
+    this(p, i, d, f, 0);
+  }
+
+  /**
+   * PIDF Config constructor to contain the values.
+   *
+   * @param p P gain.
+   * @param i I gain.
+   * @param d D gain.
+   */
+  public PIDFConfig(double p, double i, double d)
+  {
+    this(p, i, d, 0, 0);
+  }
+
+  /**
+   * PIDF Config constructor to contain the values.
+   *
+   * @param p P gain.
+   * @param d D gain.
+   */
+  public PIDFConfig(double p, double d)
+  {
+    this(p, 0, d, 0, 0);
+  }
+
+  /**
+   * Create a PIDController from the PID values.
+   *
+   * @return PIDController.
+   */
+  public PIDController createPIDController()
+  {
+    return new PIDController(p, i, d);
+  }
+}
+