Package com.thethriftybot.devices

Class ThriftyNova.PIDConfig

java.lang.Object
com.thethriftybot.devices.ThriftyNova.PIDConfig
Enclosing class:
ThriftyNova
public static final class ThriftyNova.PIDConfig extends Object
An internal PID controller configuration structure.

  • Method Details

    • setPID

      public ThriftyNova.PIDConfig setPID(PIDController pid)
      Set the PID controller terms from a PIDController object.
      Parameters:
      pid - The PIDController object.
      Returns:
      The PIDConfig object.

    • setP

      public ThriftyNova.PIDConfig setP(double p)
      Sets the proportional term for the PID controller.
      Parameters:
      p - The proportional term in rotations.
      Returns:
      The PIDConfig object.

    • setI

      public ThriftyNova.PIDConfig setI(double i)
      Sets the integral term for the PID controller.
      Parameters:
      i - The integral term in revolutions.
      Returns:
      The PIDConfig object.

    • setD

      public ThriftyNova.PIDConfig setD(double d)
      Sets the derivative term for the PID controller.
      Parameters:
      d - The derivative term in revolutions.
      Returns:
      The PIDConfig object.

    • setFF

      public ThriftyNova.PIDConfig setFF(double ff)
      Sets the feed forward term for the PID controller.
      Parameters:
      ff - The feed forward term in revolutions.
      Returns:
      The PIDConfig object.

    • setAllowableError

      public ThriftyNova.PIDConfig setAllowableError(double allowableError)
      Sets the allowable error for the PID controller.
      Parameters:
      allowableError - The allowable error in revolutions.
      Returns:
      The PIDConfig object.

    • setAccumulatorCap

      public ThriftyNova.PIDConfig setAccumulatorCap(double accumulatorCap)
      Sets the accumulator cap for the PID controller (IZone).
      Parameters:
      accumulatorCap - The accumulator cap.
      Returns:
      The PIDConfig object.

    • setIZone

      public ThriftyNova.PIDConfig setIZone(double izone)
      Sets the accumulator cap for the PID controller (IZone).
      Parameters:
      izone - The accumulator cap.
      Returns:
      The PIDConfig object.