edu.wpi.first.wpilibj.smartdashboard
Class SendablePIDController

java.lang.Object
  edu.wpi.first.wpilibj.PIDController
      edu.wpi.first.wpilibj.smartdashboard.SendablePIDController

All Implemented Interfaces:

IDevice, IUtility, SmartDashboardData

public class SendablePIDController
extends PIDController
implements SmartDashboardData

A SendablePIDController is a PIDController that can be sent over to the SmartDashboard using the putData(...) method.

It is useful if you want to test values of a PIDController without having to recompile code between tests. Also, consider using Preferences to save the important values between matches.

Author:

Joe Grinstead

See Also:

SmartDashboard

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.PIDController

kDefaultPeriod

Constructor Summary

SendablePIDController(double p, double i, double d, PIDSource source, PIDOutput output)
Allocate a PID object with the given constants for P, I, D, using a 50ms period.

SendablePIDController(double p, double i, double d, PIDSource source, PIDOutput output, double period)
Allocate a PID object with the given constants for P, I, D

Method Summary

void	disable() Stop running the PIDController, this sets the output to zero before stopping.
void	enable() Begin running the PIDController
NetworkTable	getTable() Returns the NetworkTable associated with the data.
java.lang.String	getType() Returns the type of the data.
void	setPID(double p, double i, double d) Set the PID Controller gain parameters.
void	setSetpoint(double setpoint) Set the setpoint for the PIDController

Methods inherited from class edu.wpi.first.wpilibj.PIDController

free, get, getD, getError, getI, getP, getSetpoint, isEnable, onTarget, reset, setContinuous, setContinuous, setInputRange, setOutputRange, setTolerance

Methods inherited from class java.lang.Object

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

Constructor Detail

SendablePIDController

public SendablePIDController(double p,
                             double i,
                             double d,
                             PIDSource source,
                             PIDOutput output)

Allocate a PID object with the given constants for P, I, D, using a 50ms period.

Parameters:

p - the proportional coefficient

i - the integral coefficient

d - the derivative coefficient

source - The PIDSource object that is used to get values

output - The PIDOutput object that is set to the output value

SendablePIDController

public SendablePIDController(double p,
                             double i,
                             double d,
                             PIDSource source,
                             PIDOutput output,
                             double period)

Allocate a PID object with the given constants for P, I, D

Parameters:

p - the proportional coefficient

i - the integral coefficient

d - the derivative coefficient

source - The PIDSource object that is used to get values

output - The PIDOutput object that is set to the output value

period - the loop time for doing calculations. This particularly effects calculations of the integral and differential terms. The default is 50ms.

Method Detail

setSetpoint

public void setSetpoint(double setpoint)

Set the setpoint for the PIDController

Overrides:

setSetpoint in class PIDController

Parameters:

setpoint - the desired setpoint

setPID

public void setPID(double p,
                   double i,
                   double d)

Description copied from class: PIDController

Set the PID Controller gain parameters. Set the proportional, integral, and differential coefficients.

Overrides:

setPID in class PIDController

Parameters:

p - Proportional coefficient

i - Integral coefficient

d - Differential coefficient

enable

public void enable()

Description copied from class: PIDController

Begin running the PIDController

Overrides:

enable in class PIDController

disable

public void disable()

Description copied from class: PIDController

Stop running the PIDController, this sets the output to zero before stopping.

Overrides:

disable in class PIDController

getType

public java.lang.String getType()

Description copied from interface: SmartDashboardData

Returns the type of the data. This is used by the SmartDashboard on the desktop to determine what to do with the table returned by getTable().

For instance, if the type was "Button", then the SmartDashboard would show the data as a button on the desktop and would know to look at and modify the "pressed" field in the NetworkTable returned by getTable().

Specified by:

getType in interface SmartDashboardData

Returns:

the type of the data

getTable

public NetworkTable getTable()

Description copied from interface: SmartDashboardData

Returns the NetworkTable associated with the data. The table should contain all the information the desktop version of SmartDashboard needs to interact with the object. The data should both keep the table up-to-date and also react to changes that the SmartDashboard might make.

For instance, the SendablePIDController will put its p, i and d values into its table and will change them if the table receives new values.

This method should return the same table between calls

Specified by:

getTable in interface SmartDashboardData

Returns:

the table that represents this data