Package com.thethriftybot

Class ThriftyNova.PIDConfig

java.lang.Object

com.thethriftybot.ThriftyNova.PIDConfig

Enclosing class:

ThriftyNova

public static final class ThriftyNova.PIDConfig
extends Object

An internal PID controller configuration structure.

Method Summary

Modifier and Type	Method	Description
ThriftyNova.PIDConfig	setAccumulatorCap(double accumulatorCap)	Sets the accumulator cap for the PID controller (IZone).
ThriftyNova.PIDConfig	setAllowableError(double allowableError)	Sets the allowable error for the PID controller.
ThriftyNova.PIDConfig	setD(double d)	Sets the derivative term for the PID controller.
ThriftyNova.PIDConfig	setFF(double ff)	Sets the feed forward term for the PID controller.
ThriftyNova.PIDConfig	setI(double i)	Sets the integral term for the PID controller.
ThriftyNova.PIDConfig	setIZone(double izone)	Sets the accumulator cap for the PID controller (IZone).
ThriftyNova.PIDConfig	setP(double p)	Sets the proportional term for the PID controller.
ThriftyNova.PIDConfig	setPID(PIDController pid)	Set the PID controller terms from a PIDController object.

Methods inherited from class java.lang.Object

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

Method Details

setPID

public ThriftyNova.PIDConfig setPID(PIDController pid)

Set the PID controller terms from a PIDController object.

Parameters:

pid - The PIDController object.

setP

public ThriftyNova.PIDConfig setP(double p)

Sets the proportional term for the PID controller.

Parameters:

p - The proportional term.

setI

public ThriftyNova.PIDConfig setI(double i)

Sets the integral term for the PID controller.

Parameters:

i - The integral term.

setD

public ThriftyNova.PIDConfig setD(double d)

Sets the derivative term for the PID controller.

Parameters:

d - The derivative term.

setFF

public ThriftyNova.PIDConfig setFF(double ff)

Sets the feed forward term for the PID controller.

Parameters:

ff - The feed forward term.

setAllowableError

public ThriftyNova.PIDConfig setAllowableError(double allowableError)

Sets the allowable error for the PID controller.

Parameters:

allowableError - The allowable error.

setAccumulatorCap

public ThriftyNova.PIDConfig setAccumulatorCap(double accumulatorCap)

Sets the accumulator cap for the PID controller (IZone).

Parameters:

accumulatorCap - The accumulator cap.

setIZone

public ThriftyNova.PIDConfig setIZone(double izone)

Sets the accumulator cap for the PID controller (IZone).

Parameters:

izone - The accumulator cap.