Package xbot.common.simulation

Class MotorInternalPIDHelper

java.lang.Object

xbot.common.simulation.MotorInternalPIDHelper

public class MotorInternalPIDHelper
extends Object

Utility for running simple PID logic on a MockCANMotorController in simulation. Applies PID output as motor power based on the motor’s current control mode.

Constructor Summary

Constructors

Constructor	Description
MotorInternalPIDHelper()

Method Summary

Modifier and Type	Method	Description
static void	updateInternalPID(MockCANMotorController motor, PIDManager pidManager)
static void	updateInternalPIDWithGravity(MockCANMotorController motor, PIDManager pidManager, double gravityFeedForward)
static void	updateInternalPIDWithVelocity(MockCANMotorController motor, PIDManager pidManager, AngularVelocity targetVelocity)

Methods inherited from class java.lang.Object

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

Constructor Details

MotorInternalPIDHelper

public MotorInternalPIDHelper()

Method Details

updateInternalPID

public static void updateInternalPID(MockCANMotorController motor,
 PIDManager pidManager)

updateInternalPIDWithGravity

public static void updateInternalPIDWithGravity(MockCANMotorController motor,
 PIDManager pidManager,
 double gravityFeedForward)

updateInternalPIDWithVelocity

public static void updateInternalPIDWithVelocity(MockCANMotorController motor,
 PIDManager pidManager,
 AngularVelocity targetVelocity)