Package com.thethriftybot.devices

Class ThriftyNova.ThriftyNovaConfig.PIDConfiguration

java.lang.Object

com.thethriftybot.devices.ThriftyNova.ThriftyNovaConfig.PIDConfiguration

Enclosing class:

ThriftyNova.ThriftyNovaConfig

public static class ThriftyNova.ThriftyNovaConfig.PIDConfiguration
extends Object

PID controller configuration structure.

Field Summary

Fields

Modifier and Type	Field	Description
Double	allowableError	Allowable error in rotations.
Double	d	Derivative gain.
Double	f	Feed-forward gain.
Double	i	Integral gain.
Double	iZone	Integral zone.
Double	p	Proportional gain.
PIDController	pid	The PID controller object.

Constructor Summary

Constructors

Constructor	Description
PIDConfiguration()	Constructs a default PIDConfiguration.
PIDConfiguration(PIDController pid, Double p, Double i, Double d, Double f, Double iZone, Double allowableError)	Constructs a PIDConfiguration with all parameters.

Method Summary

Modifier and Type	Method	Description
ThriftyNova.ThriftyNovaConfig.PIDConfiguration	setPID(PIDController pid)	Set the PID controller configuration from a PIDController object.

Methods inherited from class java.lang.Object

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

Field Details

pid

public PIDController pid

The PID controller object.

p

public Double p

Proportional gain.

i

public Double i

Integral gain.

d

public Double d

Derivative gain.

f

public Double f

Feed-forward gain.

iZone

public Double iZone

Integral zone.

allowableError

public Double allowableError

Allowable error in rotations.

Constructor Details

PIDConfiguration

public PIDConfiguration()

Constructs a default PIDConfiguration.

PIDConfiguration

public PIDConfiguration(PIDController pid,
 Double p,
 Double i,
 Double d,
 Double f,
 Double iZone,
 Double allowableError)

Constructs a PIDConfiguration with all parameters.

Parameters:

pid - The PID controller object.

p - Proportional gain.

i - Integral gain.

d - Derivative gain.

f - Feed-forward gain.

iZone - Integral zone.

allowableError - Allowable error in rotations.

Method Details

setPID

public ThriftyNova.ThriftyNovaConfig.PIDConfiguration setPID(PIDController pid)

Set the PID controller configuration from a PIDController object.

Parameters:

pid - The PIDController object.

Returns:

The PIDConfiguration object.