16 #include "Controller.h"
17 #include "HAL/cpp/priority_mutex.h"
18 #include "LiveWindow/LiveWindow.h"
20 #include "PIDInterface.h"
21 #include "PIDSource.h"
51 virtual double Get()
const;
53 virtual void SetInputRange(
double minimumInput,
double maximumInput);
54 virtual void SetOutputRange(
double minimumOutput,
double maximumOutput);
55 void SetPID(
double p,
double i,
double d)
override;
56 virtual void SetPID(
double p,
double i,
double d,
double f);
57 double GetP()
const override;
58 double GetI()
const override;
59 double GetD()
const override;
60 virtual double GetF()
const;
72 virtual void SetTolerance(
double percent);
73 virtual void SetAbsoluteTolerance(
double absValue);
74 virtual void SetPercentTolerance(
double percentValue);
75 virtual void SetToleranceBuffer(
int buf = 1);
76 virtual bool OnTarget()
const;
82 void Reset()
override;
84 void InitTable(std::shared_ptr<ITable> subtable)
override;
90 std::shared_ptr<ITable> m_table;
105 double m_maximumOutput = 1.0;
107 double m_minimumOutput = -1.0;
109 double m_maximumInput = 0;
111 double m_minimumInput = 0;
113 bool m_continuous =
false;
115 bool m_enabled =
false;
117 double m_prevError = 0;
119 double m_totalError = 0;
124 } m_toleranceType = kNoTolerance;
127 double m_tolerance = 0.05;
128 double m_setpoint = 0;
129 double m_prevSetpoint = 0;
135 std::atomic<unsigned> m_bufLength{1};
136 std::queue<double> m_buf;
137 double m_bufTotal = 0;
141 std::unique_ptr<Notifier> m_controlLoop;
142 Timer m_setpointTimer;
144 std::shared_ptr<ITable> GetTable()
const override;
145 std::string GetSmartDashboardType()
const override;
146 void ValueChanged(
ITable* source, llvm::StringRef key,
147 std::shared_ptr<nt::Value> value,
bool isNew)
override;
148 void UpdateTable()
override;
149 void StartLiveWindowMode()
override;
150 void StopLiveWindowMode()
override;
virtual void SetInputRange(double minimumInput, double maximumInput)
Sets the maximum and minimum values expected from the input.
Definition: PIDController.cpp:312
virtual double Get() const
Return the current PID result.
Definition: PIDController.cpp:287
double GetD() const override
Get the Differential coefficient.
Definition: PIDController.cpp:265
A table whose values can be read and written to.
Definition: ITable.h:22
virtual void SetPIDSourceType(PIDSourceType pidSource)
Sets what type of input the PID controller will use.
Definition: PIDController.cpp:402
Live Window Sendable is a special type of object sendable to the live window.
Definition: LiveWindowSendable.h:17
virtual double GetAvgError() const
Returns the current average of the error over the past few iterations.
Definition: PIDController.cpp:422
virtual void SetContinuous(bool continuous=true)
Set the PID controller to consider the input to be continuous,.
Definition: PIDController.cpp:301
virtual PIDSourceType GetPIDSourceType() const
Returns the type of input the PID controller is using.
Definition: PIDController.cpp:410
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:19
Class implements a PID Control Loop.
Definition: PIDController.h:38
virtual double CalculateFeedForward()
Calculate the feed forward term.
Definition: PIDController.cpp:178
PIDOutput interface is a generic output for the PID class.
Definition: PIDOutput.h:20
double GetDeltaSetpoint() const
Returns the change in setpoint over time of the PIDController.
Definition: PIDController.cpp:381
virtual double GetF() const
Get the Feed forward coefficient.
Definition: PIDController.cpp:275
Timer objects measure accumulated time in seconds.
Definition: Timer.h:29
Definition: priority_mutex.h:22
double GetContinuousError(double error) const
Wraps error around for continuous inputs.
Definition: PIDController.cpp:593
double GetP() const override
Get the Proportional coefficient.
Definition: PIDController.cpp:245
virtual double GetError() const
Returns the current difference of the input from the setpoint.
Definition: PIDController.cpp:391
void Reset() override
Reset the previous error, the integral term, and disable the controller.
Definition: PIDController.cpp:559
bool IsEnabled() const override
Return true if PIDController is enabled.
Definition: PIDController.cpp:551
Definition: PIDInterface.h:16
A listener that listens to changes in values in a ITable.
Definition: ITableListener.h:18
void SetPID(double p, double i, double d) override
Set the PID Controller gain parameters.
Definition: PIDController.cpp:198
double GetSetpoint() const override
Returns the current setpoint of the PIDController.
Definition: PIDController.cpp:371
void InitTable(std::shared_ptr< ITable > subtable) override
Initializes a table for this sendable object.
Definition: PIDController.cpp:572
virtual void SetOutputRange(double minimumOutput, double maximumOutput)
Sets the minimum and maximum values to write.
Definition: PIDController.cpp:328
double GetI() const override
Get the Integral coefficient.
Definition: PIDController.cpp:255
void SetSetpoint(double setpoint) override
Set the setpoint for the PIDController.
Definition: PIDController.cpp:341
PIDController(double p, double i, double d, PIDSource *source, PIDOutput *output, double period=0.05)
Allocate a PID object with the given constants for P, I, D.
Definition: PIDController.cpp:39
virtual void Calculate()
Read the input, calculate the output accordingly, and write to the output.
Definition: PIDController.cpp:87
void Disable() override
Stop running the PIDController, this sets the output to zero before stopping.
Definition: PIDController.cpp:536
void Enable() override
Begin running the PIDController.
Definition: PIDController.cpp:522