frc2::PIDCommand Class Reference

A command that controls an output with a PIDController. More...

#include <frc2/command/PIDCommand.h>

Inheritance diagram for frc2::PIDCommand:

Public Member Functions
	PIDCommand (PIDController controller, std::function< double()> measurementSource, std::function< double()> setpointSource, std::function< void(double)> useOutput, std::initializer_list< Subsystem * > requirements)
	Creates a new PIDCommand, which controls the given output with a PIDController. More...
	PIDCommand (PIDController controller, std::function< double()> measurementSource, std::function< double()> setpointSource, std::function< void(double)> useOutput, std::span< Subsystem *const > requirements={})
	Creates a new PIDCommand, which controls the given output with a PIDController. More...
	PIDCommand (PIDController controller, std::function< double()> measurementSource, double setpoint, std::function< void(double)> useOutput, std::initializer_list< Subsystem * > requirements)
	Creates a new PIDCommand, which controls the given output with a PIDController with a constant setpoint. More...
	PIDCommand (PIDController controller, std::function< double()> measurementSource, double setpoint, std::function< void(double)> useOutput, std::span< Subsystem *const > requirements={})
	Creates a new PIDCommand, which controls the given output with a PIDController with a constant setpoint. More...
	PIDCommand (PIDCommand &&other)=default
	PIDCommand (const PIDCommand &other)=default
void	Initialize () override
void	Execute () override
void	End (bool interrupted) override
PIDController &	GetController ()
	Returns the PIDController used by the command. More...
Public Member Functions inherited from frc2::CommandHelper< CommandBase, PIDCommand >
	CommandHelper ()=default
CommandPtr	ToPtr () &&override

Protected Attributes
PIDController	m_controller
std::function< double()>	m_measurement
std::function< double()>	m_setpoint
std::function< void(double)>	m_useOutput

Additional Inherited Members
Protected Member Functions inherited from frc2::CommandHelper< CommandBase, PIDCommand >
std::unique_ptr< Command >	TransferOwnership () &&override

Detailed Description

A command that controls an output with a PIDController.

Runs forever by default - to add exit conditions and/or other behavior, subclass this class. The controller calculation and output are performed synchronously in the command's execute() method.

This class is provided by the NewCommands VendorDep

See also

PIDController

Constructor & Destructor Documentation

PIDCommand() [1/6]

frc2::PIDCommand::PIDCommand	(	PIDController	controller,
		std::function< double()>	measurementSource,
		std::function< double()>	setpointSource,
		std::function< void(double)>	useOutput,
		std::initializer_list< Subsystem * >	requirements
	)

Creates a new PIDCommand, which controls the given output with a PIDController.

Parameters

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
setpointSource	the controller's reference (aka setpoint)
useOutput	the controller's output
requirements	the subsystems required by this command

PIDCommand() [2/6]

frc2::PIDCommand::PIDCommand	(	PIDController	controller,
		std::function< double()>	measurementSource,
		std::function< double()>	setpointSource,
		std::function< void(double)>	useOutput,
		std::span< Subsystem *const >	requirements = {}
	)

Creates a new PIDCommand, which controls the given output with a PIDController.

Parameters

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
setpointSource	the controller's reference (aka setpoint)
useOutput	the controller's output
requirements	the subsystems required by this command

PIDCommand() [3/6]

frc2::PIDCommand::PIDCommand	(	PIDController	controller,
		std::function< double()>	measurementSource,
		double	setpoint,
		std::function< void(double)>	useOutput,
		std::initializer_list< Subsystem * >	requirements
	)

Creates a new PIDCommand, which controls the given output with a PIDController with a constant setpoint.

Parameters

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
setpoint	the controller's setpoint (aka setpoint)
useOutput	the controller's output
requirements	the subsystems required by this command

PIDCommand() [4/6]

frc2::PIDCommand::PIDCommand	(	PIDController	controller,
		std::function< double()>	measurementSource,
		double	setpoint,
		std::function< void(double)>	useOutput,
		std::span< Subsystem *const >	requirements = {}
	)

Creates a new PIDCommand, which controls the given output with a PIDController with a constant setpoint.

Parameters

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
setpoint	the controller's setpoint (aka setpoint)
useOutput	the controller's output
requirements	the subsystems required by this command

PIDCommand() [5/6]

frc2::PIDCommand::PIDCommand ( PIDCommand &&  other )

default

PIDCommand() [6/6]

frc2::PIDCommand::PIDCommand ( const PIDCommand &  other )

default

Member Function Documentation

End()

void frc2::PIDCommand::End ( bool  interrupted )

override

Execute()

void frc2::PIDCommand::Execute ( )

override

GetController()

PIDController & frc2::PIDCommand::GetController

(

)

Returns the PIDController used by the command.

Returns

The PIDController

Initialize()

void frc2::PIDCommand::Initialize ( )

override

Member Data Documentation

m_controller

PIDController frc2::PIDCommand::m_controller

protected

m_measurement

std::function<double()> frc2::PIDCommand::m_measurement

protected

m_setpoint

std::function<double()> frc2::PIDCommand::m_setpoint

protected

m_useOutput

std::function<void(double)> frc2::PIDCommand::m_useOutput

protected

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

• frc2/command/PIDCommand.h