Package org.firstinspires.ftc.teamcode.fy23.units

Class PIDConsts

java.lang.Object

org.firstinspires.ftc.teamcode.fy23.units.PIDConsts

public class PIDConsts
extends Object

Container for PID tuning constants. They cannot be changed after the object is created. Accepted by TunablePID.

Field Summary

Fields

Modifier and Type	Field	Description
final double	kD	derivative multiplier
final double	kI	integral multiplier
final double	kP	proportional
final double	maxI	maximum integral value

Constructor Summary

Constructors

Constructor	Description
PIDConsts(double kP, double kI, double maxI, double kD)
PIDConsts(String arg)	Takes a string previously created by the serialize() method.

Method Summary

Modifier and Type	Method	Description
String	serialize()	Puts constants in a string.
PIDConsts	withkD(double newkD)
PIDConsts	withkI(double newkI)
PIDConsts	withkP(double newkP)
PIDConsts	withmaxI(double newmaxI)

Methods inherited from class java.lang.Object

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

Field Details

kP

public final double kP

proportional

kI

public final double kI

integral multiplier

maxI

public final double maxI

maximum integral value

kD

public final double kD

derivative multiplier

Constructor Details

PIDConsts

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

PIDConsts

public PIDConsts(String arg)

Takes a string previously created by the serialize() method. This is useful for reading PID constants from a file. Made with help from Stack Overflow.

Method Details

serialize

public String serialize()

Puts constants in a string. This is useful for writing them to a file. Made with help from Oracle docs.

withkP

public PIDConsts withkP(double newkP)

withkI

public PIDConsts withkI(double newkI)

withmaxI

public PIDConsts withmaxI(double newmaxI)

withkD

public PIDConsts withkD(double newkD)