Package tagalong.controls

Class PIDConstants

java.lang.Object

tagalong.controls.PIDConstants

Direct Known Subclasses:

PIDSGVAConstants

public class PIDConstants
extends Object

PID wrapper class for coefficients that are generically reused in multiple controllers.

Field Summary

Fields

Modifier and Type	Field	Description
final double	d	Proportional, integral, and derivative coefficient
final double	i	Proportional, integral, and derivative coefficient
final double	p	Proportional, integral, and derivative coefficient

Constructor Summary

Constructors

Constructor	Description
PIDConstants(double p, double i, double d)

Method Summary

Modifier and Type	Method	Description
ProfiledPIDController	getProfiledController(TrapezoidProfile.Constraints constraints)
PIDConstants	getUnprofiledController()

Methods inherited from class java.lang.Object

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

Field Details

p

public final double p

Proportional, integral, and derivative coefficient

i

public final double i

Proportional, integral, and derivative coefficient

d

public final double d

Proportional, integral, and derivative coefficient

Constructor Details

PIDConstants

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

Parameters:

p - Proportional coefficient

i - Integral coefficient

d - Derivative coefficient

Method Details

getUnprofiledController

public PIDConstants getUnprofiledController()

Returns:

PID values converted to an un-profiled PID controller

getProfiledController

public ProfiledPIDController getProfiledController(TrapezoidProfile.Constraints constraints)

Parameters:

constraints - Profile constraints

Returns:

PID values converted to an profiled PID controller