Package xbot.common.math

Class PIDManager

java.lang.Object

xbot.common.math.PIDPropertyManager

xbot.common.math.PIDManager

public class PIDManager
extends PIDPropertyManager

Wrapper for PID class which automatically puts the P, I and D values on the SmartDashboard.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	PIDManager.PIDManagerFactory

Nested classes/interfaces inherited from class xbot.common.math.PIDPropertyManager

PIDPropertyManager.PIDPropertyManagerFactory

Constructor Summary

Constructors

Constructor	Description
PIDManager(String functionName, PropertyFactory propMan, RobotAssertionManager assertionManager, double defaultP, double defaultI, double defaultD, double defaultF, double defaultMaxOutput, double defaultMinOutput, double errorThreshold, double derivativeThreshold, double timeThreshold, double iZone)

Method Summary

Modifier and Type	Method	Description
double	calculate(double goal, double current)
boolean	getIMask()
double	getMaxOutput()
double	getMinOutput()
PID.OffTargetReason	getOffTargetReason()
boolean	isOnTarget()	Determines if you are on target.
boolean	isOnTarget(double errorTolerance)	Deprecated.
void	reset()
void	setIMask(boolean isMasked)
void	setMaxOutput(double value)
void	setMinOutput(double value)

Methods inherited from class xbot.common.math.PIDPropertyManager

getD, getDerivativeThreshold, getEnableDerivativeThreshold, getEnableErrorThreshold, getEnableTimeThreshold, getErrorThreshold, getF, getI, getIZone, getP, getTimeThreshold, setD, setDerivativeThreshold, setEnableDerivativeThreshold, setEnableErrorThreshold, setEnableTimeThreshold, setErrorThreshold, setF, setI, setIZone, setP, setTimeThreshold

Methods inherited from class java.lang.Object

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

Constructor Details

PIDManager

@AssistedInject
public PIDManager(@Assisted
 String functionName,
 PropertyFactory propMan,
 RobotAssertionManager assertionManager,
 @Assisted("defaultP")
 double defaultP,
 @Assisted("defaultI")
 double defaultI,
 @Assisted("defaultD")
 double defaultD,
 @Assisted("defaultF")
 double defaultF,
 @Assisted("defaultMaxOutput")
 double defaultMaxOutput,
 @Assisted("defaultMinOutput")
 double defaultMinOutput,
 @Assisted("errorThreshold")
 double errorThreshold,
 @Assisted("derivativeThreshold")
 double derivativeThreshold,
 @Assisted("timeThreshold")
 double timeThreshold,
 @Assisted("iZone")
 double iZone)

Method Details

calculate

public double calculate(double goal,
 double current)

reset

public void reset()

isOnTarget

@Deprecated
public boolean isOnTarget(double errorTolerance)

Deprecated.

isOnTarget

public boolean isOnTarget()

Determines if you are on target. Only works if: you have called setErrorThreshold() and/or setDerivativeThreshold(), as well as setEnableErrorThreshold() and/or setDerivativeErrorThreshold(), or if you have set these values in the SmartDashboard at runtime.

getOffTargetReason

public PID.OffTargetReason getOffTargetReason()

setIMask

public void setIMask(boolean isMasked)

getIMask

public boolean getIMask()

setMinOutput

public void setMinOutput(double value)

getMinOutput

public double getMinOutput()

setMaxOutput

public void setMaxOutput(double value)

getMaxOutput

public double getMaxOutput()