Package com.alumiboti5590.eop.pid

Class PIDGains

  • public class PIDGains
extends java.lang.Object
    PIDGains allows for easily storing PID values in an object that can be pulled out and used against PID controllers. There are a slew of constructors but the values given are final; they cannot be changed.
    See Also:
    CTRE Closed Loop Tutorial, Chief Delphi 'Tuning a PID Loop'

    • Constructor Summary

      Constructors 
      Constructor Description
      PIDGains​(double p, double i, double d)
      PIDGains constructor with only the P, I, and D values provided
      PIDGains​(double p, double i, double d, double feedForward, double izone, double peakOutput)
      PIDGains constructor with all values but a mirrored peak value.
      PIDGains​(double p, double i, double d, double feedForward, double izone, double peakMinOutput, double peakMaxOutput)
      PIDGains constructor with all values potentially defined, including non-symmetrical values for the peak minimum and maximum values.

    • Method Summary

      • Methods inherited from class java.lang.Object

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

    • Field Detail

      • DEFAULT_PEAK_OUTPUT

        public static final double DEFAULT_PEAK_OUTPUT
        By default, let motors spin up to full speed. This should be adjusted using peak output parameters
        See Also:
        Constant Field Values

      • kP

        public double kP

      • kI

        public double kI

      • kD

        public double kD

      • kFF

        public double kFF

      • kIzone

        public double kIzone

      • kPeakMinOutput

        public double kPeakMinOutput

      • kPeakMaxOutput

        public double kPeakMaxOutput

    • Constructor Detail

      • PIDGains

        public PIDGains​(double p,
                double i,
                double d)
        PIDGains constructor with only the P, I, and D values provided
        Parameters:
        p - proportional control value
        i - integral control value
        d - derivative control value

      • PIDGains

        public PIDGains​(double p,
                double i,
                double d,
                double feedForward,
                double izone,
                double peakOutput)
        PIDGains constructor with all values but a mirrored peak value. Pass a number 'x' and the peak outputs will be [-x, x]
        Parameters:
        p - proportional control value
        i - integral control value
        d - derivative control value
        feedForward - the feed forward that should be applied by default. This is added to the end result
        izone - the integral zone that allows for larger error tolerances
        peakOutput - a max value for the motors that will also be negated for the min peak output

      • PIDGains

        public PIDGains​(double p,
                double i,
                double d,
                double feedForward,
                double izone,
                double peakMinOutput,
                double peakMaxOutput)
        PIDGains constructor with all values potentially defined, including non-symmetrical values for the peak minimum and maximum values.
        Parameters:
        p - proportional control value
        i - integral control value
        d - derivative control value
        feedForward - the feed forward that should be applied by default. This is added to the end result
        izone - the integral zone that allows for larger error tolerances
        peakMinOutput - the minimum peak output allowed
        peakMaxOutput - the maximum peak output allowed