Package org.texastorque.torquelib.control

Class TorquePID

java.lang.Object

edu.wpi.first.math.controller.PIDController

org.texastorque.torquelib.control.TorquePID

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, AutoCloseable

public final class TorquePID
extends edu.wpi.first.math.controller.PIDController

A class representation of a PID controller that extends the WPILib PIDController.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	TorquePID.Builder

Method Summary

Modifier and Type	Method	Description
static final TorquePID.Builder	create()
static final TorquePID.Builder	create(double p)
final edu.wpi.first.math.controller.PIDController	createPIDController()
final edu.wpi.first.math.controller.PIDController	createPIDController(Function<edu.wpi.first.math.controller.PIDController,edu.wpi.first.math.controller.PIDController> function)
final double	getDerivative()
final double	getFeedForward()
final double	getIntegral()
final double	getIntegralZone()
final double	getMaxOutput()
final double	getMinOutput()
final double	getProportional()
final boolean	hasIntegralZone()
final String	toString()

Methods inherited from class edu.wpi.first.math.controller.PIDController

atSetpoint, calculate, calculate, close, disableContinuousInput, enableContinuousInput, getD, getI, getP, getPeriod, getPositionError, getPositionTolerance, getSetpoint, getVelocityError, getVelocityTolerance, initSendable, isContinuousInputEnabled, reset, setD, setI, setIntegratorRange, setP, setPID, setSetpoint, setTolerance, setTolerance

Methods inherited from class java.lang.Object

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

Method Details

create

public static final TorquePID.Builder create()

create

public static final TorquePID.Builder create(double p)

getProportional

public final double getProportional()

getIntegral

public final double getIntegral()

getDerivative

public final double getDerivative()

getFeedForward

public final double getFeedForward()

getMinOutput

public final double getMinOutput()

getMaxOutput

public final double getMaxOutput()

getIntegralZone

public final double getIntegralZone()

hasIntegralZone

public final boolean hasIntegralZone()

toString

public final String toString()

Overrides:

toString in class Object

createPIDController

public final edu.wpi.first.math.controller.PIDController createPIDController()

createPIDController

public final edu.wpi.first.math.controller.PIDController createPIDController(Function<edu.wpi.first.math.controller.PIDController,edu.wpi.first.math.controller.PIDController> function)