defaults:
  subpackage: controller

classes:
  wpi::math::PIDController:
    ignored_bases:
    - wpi::util::SendableHelper<PIDController>
    methods:
      PIDController:
        param_override:
          period:
            default: 0.020_s
      SetPID:
      SetP:
      SetI:
      SetD:
      SetIZone:
      GetP:
      GetI:
      GetD:
      GetIZone:
      GetPeriod:
      GetErrorTolerance:
      GetErrorDerivativeTolerance:
      GetPositionTolerance:
      GetVelocityTolerance:
      GetAccumulatedError:
      SetSetpoint:
      GetSetpoint:
      AtSetpoint:
      EnableContinuousInput:
      DisableContinuousInput:
      IsContinuousInputEnabled:
      SetIntegratorRange:
      SetTolerance:
      GetError:
      GetErrorDerivative:
      GetPositionError:
      GetVelocityError:
      Calculate:
        overloads:
          double:
          double, double:
      Reset:
      InitSendable: