Package tagalong.controls

Class PIDSGVAConstants

java.lang.Object

tagalong.controls.PIDConstants

tagalong.controls.PIDSGVAConstants

public class PIDSGVAConstants
extends PIDConstants

Wrapper class for PID + FeedForward coefficients for generic reuse in CTRE Devices

Field Summary

Fields

Modifier and Type	Field	Description
final double	a	FeedForward coefficient A or acceleration in volts per unit of acceleration
final double	g	FeedForward coefficient G or gravity in volts
final double	s	FeedForward coefficient S or static in volts
final double	v	FeedForward coefficient V or velocity in volts per unit of velocity

Fields inherited from class tagalong.controls.PIDConstants

d, i, p

Constructor Summary

Constructors

Constructor	Description
PIDSGVAConstants(double p, double i, double d, double s, double g, double v, double a)

Method Summary

Modifier and Type	Method	Description
com.ctre.phoenix6.configs.Slot0Configs	toCTRESlot0Configuration()
com.ctre.phoenix6.configs.Slot1Configs	toCTRESlot1Configuration()
com.ctre.phoenix6.configs.Slot2Configs	toCTRESlot2Configuration()

Methods inherited from class tagalong.controls.PIDConstants

getProfiledController, getUnprofiledController

Methods inherited from class java.lang.Object

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

Field Details

s

public final double s

FeedForward coefficient S or static in volts

g

public final double g

FeedForward coefficient G or gravity in volts

v

public final double v

FeedForward coefficient V or velocity in volts per unit of velocity

a

public final double a

FeedForward coefficient A or acceleration in volts per unit of acceleration

Constructor Details

PIDSGVAConstants

public PIDSGVAConstants(double p,
 double i,
 double d,
 double s,
 double g,
 double v,
 double a)

Parameters:

p - P Factor

i - I Factor

d - D Factor

s - S Factor

g - G Factor

v - V Factor

a - A Factor

Method Details

toCTRESlot0Configuration

public com.ctre.phoenix6.configs.Slot0Configs toCTRESlot0Configuration()

Returns:

Values as CTRE Device Slot 0 configuration

toCTRESlot1Configuration

public com.ctre.phoenix6.configs.Slot1Configs toCTRESlot1Configuration()

Returns:

Values as CTRE Device Slot 1 configuration

toCTRESlot2Configuration

public com.ctre.phoenix6.configs.Slot2Configs toCTRESlot2Configuration()

Returns:

Values as CTRE Device Slot 2 configuration