PIDSubsystem Class Reference

This class is designed to handle the case where there is a Subsystem which uses a single PIDController almost constantly (for instance, an elevator which attempts to stay at a constant height). More...

#include <PIDSubsystem.h>

Inheritance diagram for PIDSubsystem:

Public Member Functions
	PIDSubsystem (const std::string &name, double p, double i, double d)
	Instantiates a PIDSubsystem that will use the given p, i and d values. More...
	PIDSubsystem (const std::string &name, double p, double i, double d, double f)
	Instantiates a PIDSubsystem that will use the given p, i and d values. More...
	PIDSubsystem (const std::string &name, double p, double i, double d, double f, double period)
	Instantiates a PIDSubsystem that will use the given p, i and d values. More...
	PIDSubsystem (double p, double i, double d)
	Instantiates a PIDSubsystem that will use the given p, i and d values. More...
	PIDSubsystem (double p, double i, double d, double f)
	Instantiates a PIDSubsystem that will use the given p, i and d values. More...
	PIDSubsystem (double p, double i, double d, double f, double period)
	Instantiates a PIDSubsystem that will use the given p, i and d values. More...
void	Enable ()
	Enables the internal PIDController.
void	Disable ()
	Disables the internal PIDController.
virtual void	PIDWrite (float output)
virtual double	PIDGet ()
void	SetSetpoint (double setpoint)
	Sets the setpoint to the given value. More...
void	SetSetpointRelative (double deltaSetpoint)
	Adds the given value to the setpoint. More...
void	SetInputRange (float minimumInput, float maximumInput)
	Sets the maximum and minimum values expected from the input. More...
void	SetOutputRange (float minimumOutput, float maximumOutput)
	Sets the maximum and minimum values to write. More...
double	GetSetpoint ()
	Return the current setpoint. More...
double	GetPosition ()
	Returns the current position. More...
double	GetRate ()
	Returns the current rate. More...
virtual void	SetAbsoluteTolerance (float absValue)
virtual void	SetPercentTolerance (float percent)
virtual bool	OnTarget () const
virtual void	InitTable (std::shared_ptr< ITable > table)
	Initializes a table for this sendable object. More...
virtual std::string	GetSmartDashboardType () const
Public Member Functions inherited from Subsystem
	Subsystem (const std::string &name)
	Creates a subsystem with the given name. More...
void	SetDefaultCommand (Command *command)
	Sets the default command. More...
Command *	GetDefaultCommand ()
	Returns the default command (or null if there is none). More...
void	SetCurrentCommand (Command *command)
	Sets the current command. More...
Command *	GetCurrentCommand () const
	Returns the command which currently claims this subsystem. More...
virtual void	InitDefaultCommand ()
	Initialize the default command for this subsystem This is meant to be the place to call SetDefaultCommand in a subsystem and will be called on all the subsystems by the CommandBase method before the program starts running by using the list of all registered Subsystems inside the Scheduler. More...
virtual std::string	GetName () const
virtual std::shared_ptr< ITable >	GetTable () const
Public Member Functions inherited from ErrorBase
	ErrorBase (const ErrorBase &)=delete
ErrorBase &	operator= (const ErrorBase &)=delete
virtual Error &	GetError ()
	Retrieve the current error. More...
virtual const Error &	GetError () const
virtual void	SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...
virtual void	SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...
virtual void	SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...
virtual void	SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...
virtual void	CloneError (const ErrorBase &rhs) const
virtual void	ClearError () const
	Clear the current error information associated with this sensor.
virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...
Public Member Functions inherited from PIDSource
virtual void	SetPIDSourceType (PIDSourceType pidSource)
	Set which parameter you are using as a process control variable. More...
PIDSourceType	GetPIDSourceType () const

Protected Member Functions
std::shared_ptr< PIDController >	GetPIDController ()
	Returns the PIDController used by this PIDSubsystem. More...
virtual double	ReturnPIDInput ()=0
virtual void	UsePIDOutput (double output)=0

Additional Inherited Members
Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
static void	SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
static Error &	GetGlobalError ()
	Retrieve the current global error.
Protected Attributes inherited from Subsystem
std::shared_ptr< ITable >	m_table
Protected Attributes inherited from ErrorBase
Error	m_error
Protected Attributes inherited from PIDSource
PIDSourceType	m_pidSource = PIDSourceType::kDisplacement
Static Protected Attributes inherited from ErrorBase
static priority_mutex	_globalErrorMutex
static Error	_globalError

Detailed Description

This class is designed to handle the case where there is a Subsystem which uses a single PIDController almost constantly (for instance, an elevator which attempts to stay at a constant height).

It provides some convenience methods to run an internal PIDController. It also allows access to the internal PIDController in order to give total control to the programmer.

Constructor & Destructor Documentation

PIDSubsystem::PIDSubsystem	(	const std::string &	name,
		double	p,
		double	i,
		double	d
	)

Instantiates a PIDSubsystem that will use the given p, i and d values.

Parameters

name	the name
p	the proportional value
i	the integral value
d	the derivative value

PIDSubsystem::PIDSubsystem	(	const std::string &	name,
		double	p,
		double	i,
		double	d,
		double	f
	)

Instantiates a PIDSubsystem that will use the given p, i and d values.

Parameters

name	the name
p	the proportional value
i	the integral value
d	the derivative value
f	the feedforward value

PIDSubsystem::PIDSubsystem	(	const std::string &	name,
		double	p,
		double	i,
		double	d,
		double	f,
		double	period
	)

Instantiates a PIDSubsystem that will use the given p, i and d values.

It will also space the time between PID loop calculations to be equal to the given period.

Parameters

name	the name
p	the proportional value
i	the integral value
d	the derivative value
f	the feedfoward value
period	the time (in seconds) between calculations

PIDSubsystem::PIDSubsystem	(	double	p,
		double	i,
		double	d
	)

Instantiates a PIDSubsystem that will use the given p, i and d values.

It will use the class name as its name.

Parameters

p	the proportional value
i	the integral value
d	the derivative value

PIDSubsystem::PIDSubsystem	(	double	p,
		double	i,
		double	d,
		double	f
	)

Instantiates a PIDSubsystem that will use the given p, i and d values.

It will use the class name as its name.

Parameters

p	the proportional value
i	the integral value
d	the derivative value
f	the feedforward value

PIDSubsystem::PIDSubsystem	(	double	p,
		double	i,
		double	d,
		double	f,
		double	period
	)

Instantiates a PIDSubsystem that will use the given p, i and d values.

It will use the class name as its name. It will also space the time between PID loop calculations to be equal to the given period.

Parameters

p	the proportional value
i	the integral value
d	the derivative value
f	the feedforward value
period	the time (in seconds) between calculations

Member Function Documentation

std::shared_ptr< PIDController > PIDSubsystem::GetPIDController ( )

protected

Returns the PIDController used by this PIDSubsystem.

Use this if you would like to fine tune the pid loop.

Returns

the PIDController used by this PIDSubsystem

double PIDSubsystem::GetPosition

(

)

Returns the current position.

Returns

the current position

double PIDSubsystem::GetRate

(

)

Returns the current rate.

Returns

the current rate

double PIDSubsystem::GetSetpoint

(

)

Return the current setpoint.

Returns

The current setpoint

std::string PIDSubsystem::GetSmartDashboardType ( ) const

virtual

Returns

the string representation of the named data type that will be used by the smart dashboard for this sendable

Reimplemented from Subsystem.

void PIDSubsystem::InitTable ( std::shared_ptr< ITable >  subtable )

virtual

Initializes a table for this sendable object.

Parameters

subtable

The table to put the values in.

Reimplemented from Subsystem.

void PIDSubsystem::SetInputRange	(	float	minimumInput,
		float	maximumInput
	)

Sets the maximum and minimum values expected from the input.

Parameters

minimumInput	the minimum value expected from the input
maximumInput	the maximum value expected from the output

void PIDSubsystem::SetOutputRange	(	float	minimumOutput,
		float	maximumOutput
	)

Sets the maximum and minimum values to write.

Parameters

minimumOutput	the minimum value to write to the output
maximumOutput	the maximum value to write to the output

void PIDSubsystem::SetSetpoint

(

double

setpoint

)

Sets the setpoint to the given value.

If double) SetRange(...) was called, then the given setpoint will be trimmed to fit within the range.

Parameters

setpoint

the new setpoint

void PIDSubsystem::SetSetpointRelative

(

double

deltaSetpoint

)

Adds the given value to the setpoint.

If SetRange(...) was used, then the bounds will still be honored by this method.

Parameters

deltaSetpoint

the change in the setpoint

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The documentation for this class was generated from the following files:

• shared/include/Commands/PIDSubsystem.h
• shared/src/Commands/PIDSubsystem.cpp