PIDSubsystem (wpilibJavaFinal 0.1.0-SNAPSHOT API)

java.lang.Object
- edu.wpi.first.wpilibj.command.Subsystem
- - edu.wpi.first.wpilibj.command.PIDSubsystem

All Implemented Interfaces:

NamedSendable, Sendable
```
public abstract class PIDSubsystem
extends Subsystem
implements Sendable
```
This class is designed to handle the case where there is a Subsystem which uses a single PIDController almost constantly (for instance, an elevator which attempts to stay at a constant height).
It provides some convenience methods to run an internal PIDController. It also allows access to the internal PIDController in order to give total control to the programmer.

Author:

Joe Grinstead

Constructor Summary

Constructors
Constructor and Description
`PIDSubsystem(double p, double i, double d)` Instantiates a `PIDSubsystem` that will use the given p, i and d values.
`PIDSubsystem(double p, double i, double d, double period)` Instantiates a `PIDSubsystem` that will use the given p, i and d values.
`PIDSubsystem(double p, double i, double d, double period, double f)` Instantiates a `PIDSubsystem` that will use the given p, i and d values.
`PIDSubsystem(String name, double p, double i, double d)` Instantiates a `PIDSubsystem` that will use the given p, i and d values.
`PIDSubsystem(String name, double p, double i, double d, double f)` Instantiates a `PIDSubsystem` that will use the given p, i and d values.
`PIDSubsystem(String name, double p, double i, double d, double f, double period)` Instantiates a `PIDSubsystem` that will use the given p, i and d values.

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`disable()` Disables the internal `PIDController`
`void`	`enable()` Enables the internal `PIDController`
`PIDController`	`getPIDController()` Returns the `PIDController` used by this `PIDSubsystem`.
`double`	`getPosition()` Returns the current position
`double`	`getSetpoint()` Returns the setpoint.
`String`	`getSmartDashboardType()`
`void`	`initTable(edu.wpi.first.wpilibj.tables.ITable table)` Initializes a table for this sendable object.
`boolean`	`onTarget()` Return true if the error is within the percentage of the total input range, determined by setTolerance.
`protected abstract double`	`returnPIDInput()` Returns the input for the pid loop.
`void`	`setAbsoluteTolerance(double t)` Set the absolute error which is considered tolerable for use with OnTarget.
`void`	`setInputRange(double minimumInput, double maximumInput)` Sets the maximum and minimum values expected from the input.
`void`	`setOutputRange(double minimumOutput, double maximumOutput)` Sets the maximum and minimum values to write.
`void`	`setPercentTolerance(double p)` Set the percentage error which is considered tolerable for use with OnTarget.
`void`	`setSetpoint(double setpoint)` Sets the setpoint to the given value.
`void`	`setSetpointRelative(double deltaSetpoint)` Adds the given value to the setpoint.
`protected abstract void`	`usePIDOutput(double output)` Uses the value that the pid loop calculated.

Methods inherited from class edu.wpi.first.wpilibj.command.Subsystem
getCurrentCommand, getDefaultCommand, getName, getTable, initDefaultCommand, setDefaultCommand, toString

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.Sendable
getTable

- Constructor Detail
  - PIDSubsystem
```
public PIDSubsystem(String name,
                    double p,
                    double i,
                    double d)
```
    Instantiates a PIDSubsystem that will use the given p, i and d values.
    
    Parameters:
    
    name - the name
    
    p - the proportional value
    
    i - the integral value
    
    d - the derivative value
  - PIDSubsystem
```
public PIDSubsystem(String name,
                    double p,
                    double i,
                    double d,
                    double f)
```
    Instantiates a PIDSubsystem that will use the given p, i and d values.
    
    Parameters:
    
    name - the name
    
    p - the proportional value
    
    i - the integral value
    
    d - the derivative value
    
    f - the feed forward value
  - PIDSubsystem
```
public PIDSubsystem(String name,
                    double p,
                    double i,
                    double d,
                    double f,
                    double period)
```
    Instantiates a PIDSubsystem that will use the given p, i and d values. It will also space the time between PID loop calculations to be equal to the given period.
    
    Parameters:
    
    name - the name
    
    p - the proportional value
    
    i - the integral value
    
    d - the derivative value
    
    period - the time (in seconds) between calculations
  - PIDSubsystem
```
public PIDSubsystem(double p,
                    double i,
                    double d)
```
    Instantiates a PIDSubsystem that will use the given p, i and d values. It will use the class name as its name.
    
    Parameters:
    
    p - the proportional value
    
    i - the integral value
    
    d - the derivative value
  - PIDSubsystem
```
public PIDSubsystem(double p,
                    double i,
                    double d,
                    double period,
                    double f)
```
    Instantiates a PIDSubsystem that will use the given p, i and d values. It will use the class name as its name. It will also space the time between PID loop calculations to be equal to the given period.
    
    Parameters:
    
    p - the proportional value
    
    i - the integral value
    
    d - the derivative value
    
    f - the feed forward coefficient
    
    period - the time (in seconds) between calculations
  - PIDSubsystem
```
public PIDSubsystem(double p,
                    double i,
                    double d,
                    double period)
```
    Instantiates a PIDSubsystem that will use the given p, i and d values. It will use the class name as its name. It will also space the time between PID loop calculations to be equal to the given period.
    
    Parameters:
    
    p - the proportional value
    
    i - the integral value
    
    d - the derivative value
    
    period - the time (in seconds) between calculations
- Method Detail
  - getPIDController
```
public PIDController getPIDController()
```
    Returns the PIDController used by this PIDSubsystem. Use this if you would like to fine tune the pid loop.
    
    Returns:
    
    the PIDController used by this PIDSubsystem
  - setSetpointRelative
```
public void setSetpointRelative(double deltaSetpoint)
```
    Adds the given value to the setpoint. If setInputRange(...) was used, then the bounds will still be honored by this method.
    
    Parameters:
    
    deltaSetpoint - the change in the setpoint
  - setSetpoint
```
public void setSetpoint(double setpoint)
```
    Sets the setpoint to the given value. If setInputRange(...) was called, then the given setpoint will be trimmed to fit within the range.
    
    Parameters:
    
    setpoint - the new setpoint
  - getSetpoint
```
public double getSetpoint()
```
    Returns the setpoint.
    
    Returns:
    
    the setpoint
  - getPosition
```
public double getPosition()
```
    Returns the current position
    
    Returns:
    
    the current position
  - setInputRange
```
public void setInputRange(double minimumInput,
                          double maximumInput)
```
    Sets the maximum and minimum values expected from the input.
    
    Parameters:
    
    minimumInput - the minimum value expected from the input
    
    maximumInput - the maximum value expected from the output
  - setOutputRange
```
public void setOutputRange(double minimumOutput,
                           double maximumOutput)
```
    Sets the maximum and minimum values to write.
    
    Parameters:
    
    minimumOutput - the minimum value to write to the output
    
    maximumOutput - the maximum value to write to the output
  - setAbsoluteTolerance
```
public void setAbsoluteTolerance(double t)
```
    Set the absolute error which is considered tolerable for use with OnTarget. The value is in the same range as the PIDInput values.
    
    Parameters:
    
    t - the absolute tolerance
  - setPercentTolerance
```
public void setPercentTolerance(double p)
```
    Set the percentage error which is considered tolerable for use with OnTarget. (Value of 15.0 == 15 percent)
    
    Parameters:
    
    p - the percent tolerance
  - onTarget
```
public boolean onTarget()
```
    Return true if the error is within the percentage of the total input range, determined by setTolerance. This assumes that the maximum and minimum input were set using setInput.
    
    Returns:
    
    true if the error is less than the tolerance
  - returnPIDInput
```
protected abstract double returnPIDInput()
```
    Returns the input for the pid loop.
    It returns the input for the pid loop, so if this Subsystem was based off of a gyro, then it should return the angle of the gyro
    
    All subclasses of PIDSubsystem must override this method.
    
    Returns:
    
    the value the pid loop should use as input
  - usePIDOutput
```
protected abstract void usePIDOutput(double output)
```
    Uses the value that the pid loop calculated. The calculated value is the "output" parameter. This method is a good time to set motor values, maybe something along the lines of driveline.tankDrive(output, -output)
    All subclasses of PIDSubsystem must override this method.
    
    Parameters:
    
    output - the value the pid loop calculated
  - enable
```
public void enable()
```
    Enables the internal PIDController
  - disable
```
public void disable()
```
    Disables the internal PIDController
  - getSmartDashboardType
```
public String getSmartDashboardType()
```
    Specified by:
    
    getSmartDashboardType in interface Sendable
    
    Overrides:
    
    getSmartDashboardType in class Subsystem
    
    Returns:
    
    the string representation of the named data type that will be used by the smart dashboard for this sendable
  - initTable
```
public void initTable(edu.wpi.first.wpilibj.tables.ITable table)
```
    Description copied from interface: Sendable
    
    Initializes a table for this sendable object.
    
    Specified by:
    
    initTable in interface Sendable
    
    Overrides:
    
    initTable in class Subsystem
    
    Parameters:
    
    table - The table to put the values in.

Class PIDSubsystem

Constructor Summary

Method Summary

Methods inherited from class edu.wpi.first.wpilibj.command.Subsystem

Methods inherited from class java.lang.Object

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

Constructor Detail

PIDSubsystem

PIDSubsystem

PIDSubsystem

PIDSubsystem

PIDSubsystem

PIDSubsystem

Method Detail

getPIDController

setSetpointRelative

setSetpoint

getSetpoint

getPosition

setInputRange

setOutputRange

setAbsoluteTolerance

setPercentTolerance

onTarget

returnPIDInput

usePIDOutput

enable

disable

getSmartDashboardType

initTable