Package org.firstinspires.ftc.teamcode.fy23.processors

Class TunablePID

java.lang.Object

org.firstinspires.ftc.teamcode.fy23.processors.TunablePID

public class TunablePID
extends Object

A simple PID algorithm that allows its constants to be changed on the fly. Useful for tuning them in a TeleOp to instantly see the results of changes. It can also import a PIDConsts. Implementation based on this pseudocode from GM0. Positive error = positive correction.

Constructor Summary

Constructors

Constructor	Description
TunablePID(double kP, double kI, double maxI, double kD)
TunablePID(double kP, double kI, double maxI, double kD, com.qualcomm.robotcore.util.ElapsedTime stopwatch)
TunablePID(PIDConsts pidConsts)
TunablePID(PIDConsts pidConsts, com.qualcomm.robotcore.util.ElapsedTime stopwatch)

Method Summary

Modifier and Type	Method	Description
void	clearIntegral()
double	correctFor(double error)
int	correctFor(int error)
double	currentIntegralValue()
double	kD()
double	kI()
double	kP()
double	maxI()
void	setkD(double kD)
void	setkI(double kI)
void	setkP(double kP)
void	setmaxI(double maxI)

Methods inherited from class java.lang.Object

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

Constructor Details

TunablePID

public TunablePID(double kP,
 double kI,
 double maxI,
 double kD,
 com.qualcomm.robotcore.util.ElapsedTime stopwatch)

TunablePID

public TunablePID(double kP,
 double kI,
 double maxI,
 double kD)

TunablePID

public TunablePID(PIDConsts pidConsts,
 com.qualcomm.robotcore.util.ElapsedTime stopwatch)

TunablePID

public TunablePID(PIDConsts pidConsts)

Method Details

clearIntegral

public void clearIntegral()

correctFor

public double correctFor(double error)

correctFor

public int correctFor(int error)

kP

public double kP()

setkP

public void setkP(double kP)

kI

public double kI()

setkI

public void setkI(double kI)

maxI

public double maxI()

setmaxI

public void setmaxI(double maxI)

kD

public double kD()

setkD

public void setkD(double kD)

currentIntegralValue

public double currentIntegralValue()