Package frc.team88.swerve.configuration.subconfig

Class PIDConfiguration

    • Constructor Summary

      Constructors 
      Constructor Description
      PIDConfiguration​(com.electronwill.nightconfig.core.Config config)
      Constructs from a raw configuration containing some of the appropriate fields.

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      double getIMax()
      Gets the iMax value.
      double getIZone()
      Gets the iZone value.
      double getKD()
      Gets the kD value.
      double getKF()
      Gets the kF value.
      double getKI()
      Gets the kI value.
      double getKP()
      Gets the kP value.
      double getTolerance()
      Gets the tolerance value.
      void populateNetworkTable​(edu.wpi.first.networktables.NetworkTable table)
      Populates the given network table with data from this class.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • PIDConfiguration

        public PIDConfiguration​(com.electronwill.nightconfig.core.Config config)
        Constructs from a raw configuration containing some of the appropriate fields.
        Parameters:
        config - The raw configuration.
        Throws:
        SwerveConfigException - If the user provided config is incorrect.

    • Method Detail

      • getKP

        public double getKP()
        Gets the kP value.
        Returns:
        The proportional constant.

      • getKI

        public double getKI()
        Gets the kI value.
        Returns:
        The integral constant.

      • getKD

        public double getKD()
        Gets the kD value.
        Returns:
        The differential constant.

      • getKF

        public double getKF()
        Gets the kF value.
        Returns:
        The feedforward constant.

      • getIZone

        public double getIZone()
        Gets the iZone value.
        Returns:
        The max error for which integral will be accumulated.

      • getIMax

        public double getIMax()
        Gets the iMax value.
        Returns:
        The max accumulated integral value.

      • getTolerance

        public double getTolerance()
        Gets the tolerance value.
        Returns:
        The minimum error for the PID output to be non-zero.

      • populateNetworkTable

        public void populateNetworkTable​(edu.wpi.first.networktables.NetworkTable table)
        Description copied from interface: NetworkTablePopulator
        Populates the given network table with data from this class. May also read in values.
        Specified by:
        populateNetworkTable in interface NetworkTablePopulator
        Parameters:
        table - The table to populate, and possibly read from.