WPILibC++  2020.3.2-60-g3011ebe
frc2::PIDSubsystem Class Referenceabstract

A subsystem that uses a PIDController to control an output. More...

#include <PIDSubsystem.h>

Inheritance diagram for frc2::PIDSubsystem:
frc2::SubsystemBase frc2::Subsystem frc::Sendable frc::SendableHelper< SubsystemBase >

Public Member Functions

 PIDSubsystem (PIDController controller, double initialPosition=0)
 Creates a new PIDSubsystem. More...
 
void Periodic () override
 This method is called periodically by the CommandScheduler. More...
 
void SetSetpoint (double setpoint)
 Sets the setpoint for the subsystem. More...
 
virtual void Enable ()
 Enables the PID control. More...
 
virtual void Disable ()
 Disables the PID control. More...
 
bool IsEnabled ()
 Returns whether the controller is enabled. More...
 
PIDControllerGetController ()
 Returns the PIDController. More...
 
- Public Member Functions inherited from frc2::SubsystemBase
void InitSendable (frc::SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
std::string GetName () const
 Gets the name of this Subsystem. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Subsystem. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Subsystem. More...
 
void SetSubsystem (const wpi::Twine &name)
 Sets the subsystem name of this Subsystem. More...
 
void AddChild (std::string name, frc::Sendable *child)
 Associate a Sendable with this Subsystem. More...
 
- Public Member Functions inherited from frc2::Subsystem
template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>
void SetDefaultCommand (T &&defaultCommand)
 Sets the default Command of the subsystem. More...
 
CommandGetDefaultCommand () const
 Gets the default command for this subsystem. More...
 
CommandGetCurrentCommand () const
 Returns the command currently running on this subsystem. More...
 
void Register ()
 Registers this subsystem with the CommandScheduler, allowing its Periodic() method to be called when the scheduler runs.
 
- Public Member Functions inherited from frc::SendableHelper< SubsystemBase >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 
std::string GetName () const
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem)
 Sets the subsystem name of this Sendable object. More...
 

Protected Member Functions

virtual double GetMeasurement ()=0
 Returns the measurement of the process variable used by the PIDController. More...
 
virtual void UseOutput (double output, double setpoint)=0
 Uses the output from the PIDController. More...
 
- Protected Member Functions inherited from frc::SendableHelper< SubsystemBase >
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 

Protected Attributes

PIDController m_controller
 
bool m_enabled {false}
 

Detailed Description

A subsystem that uses a PIDController to control an output.

The controller is run synchronously from the subsystem's periodic() method.

See also
PIDController

Constructor & Destructor Documentation

◆ PIDSubsystem()

frc2::PIDSubsystem::PIDSubsystem ( PIDController  controller,
double  initialPosition = 0 
)
explicit

Creates a new PIDSubsystem.

Parameters
controllerthe PIDController to use
initialPositionthe initial setpoint of the subsystem

Member Function Documentation

◆ Disable()

virtual void frc2::PIDSubsystem::Disable ( )
virtual

Disables the PID control.

Sets output to zero.

◆ Enable()

virtual void frc2::PIDSubsystem::Enable ( )
virtual

Enables the PID control.

Resets the controller.

◆ GetController()

PIDController& frc2::PIDSubsystem::GetController ( )

Returns the PIDController.

Returns
The controller.

◆ GetMeasurement()

virtual double frc2::PIDSubsystem::GetMeasurement ( )
protectedpure virtual

Returns the measurement of the process variable used by the PIDController.

Returns
the measurement of the process variable

◆ IsEnabled()

bool frc2::PIDSubsystem::IsEnabled ( )

Returns whether the controller is enabled.

Returns
Whether the controller is enabled.

◆ Periodic()

void frc2::PIDSubsystem::Periodic ( )
overridevirtual

This method is called periodically by the CommandScheduler.

Useful for updating subsystem-specific state that you don't want to offload to a Command. Teams should try to be consistent within their own codebases about which responsibilities will be handled by Commands, and which will be handled here.

Reimplemented from frc2::Subsystem.

◆ SetSetpoint()

void frc2::PIDSubsystem::SetSetpoint ( double  setpoint)

Sets the setpoint for the subsystem.

Parameters
setpointthe setpoint for the subsystem

◆ UseOutput()

virtual void frc2::PIDSubsystem::UseOutput ( double  output,
double  setpoint 
)
protectedpure virtual

Uses the output from the PIDController.

Parameters
outputthe output of the PIDController
setpointthe setpoint of the PIDController (for feedforward)

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