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
	The initial subroutine of a command. More...

void	Execute () override
	The main body of a command. More...

void	End (bool interrupted) override
	The action to take when the command ends. More...

PIDController &	GetController ()
	Returns the PIDController used by the command. More...

Public Member Functions inherited from frc2::CommandHelper< CommandBase, PIDCommand >
	CommandHelper ()=default

CommandPtr	ToPtr () &&override

Public Member Functions inherited from frc2::CommandBase
void	AddRequirements (std::initializer_list< Subsystem * > requirements)
	Adds the specified Subsystem requirements to the command. More...

void	AddRequirements (std::span< Subsystem *const > requirements)
	Adds the specified Subsystem requirements to the command. More...

void	AddRequirements (wpi::SmallSet< Subsystem *, 4 > requirements)
	Adds the specified Subsystem requirements to the command. More...

void	AddRequirements (Subsystem *requirement)
	Adds the specified Subsystem requirement to the command. More...

wpi::SmallSet< Subsystem *, 4 >	GetRequirements () const override
	Gets the Subsystem requirements of the command. More...

void	SetName (std::string_view name) override
	Sets the name of this Command. More...

std::string	GetName () const override
	Gets the name of this Command. More...

std::string	GetSubsystem () const
	Gets the subsystem name of this Command. More...

void	SetSubsystem (std::string_view subsystem)
	Sets the subsystem name of this Command. More...

void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...

Public Member Functions inherited from frc2::Command
	Command ()=default

virtual	~Command ()

	Command (const Command &)=default

Command &	operator= (const Command &rhs)

	Command (Command &&)=default

Command &	operator= (Command &&)=default

virtual void	Initialize ()
	The initial subroutine of a command. More...

virtual void	Execute ()
	The main body of a command. More...

virtual void	End (bool interrupted)
	The action to take when the command ends. More...

virtual bool	IsFinished ()
	Whether the command has finished. More...

virtual wpi::SmallSet< Subsystem *, 4 >	GetRequirements () const =0
	Specifies the set of subsystems used by this command. More...

CommandPtr	WithTimeout (units::second_t duration) &&
	Decorates this command with a timeout. More...

CommandPtr	Until (std::function< bool()> condition) &&
	Decorates this command with an interrupt condition. More...

CommandPtr	WithInterrupt (std::function< bool()> condition) &&
	Decorates this command with an interrupt condition. More...

CommandPtr	BeforeStarting (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
	Decorates this command with a runnable to run before this command starts. More...

CommandPtr	BeforeStarting (std::function< void()> toRun, std::span< Subsystem *const > requirements={}) &&
	Decorates this command with a runnable to run before this command starts. More...

CommandPtr	AndThen (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
	Decorates this command with a runnable to run after the command finishes. More...

CommandPtr	AndThen (std::function< void()> toRun, std::span< Subsystem *const > requirements={}) &&
	Decorates this command with a runnable to run after the command finishes. More...

PerpetualCommand	Perpetually () &&

CommandPtr	Repeatedly () &&
	Decorates this command to run repeatedly, restarting it when it ends, until this command is interrupted. More...

CommandPtr	AsProxy () &&
	Decorates this command to run "by proxy" by wrapping it in a ProxyCommand. More...

CommandPtr	Unless (std::function< bool()> condition) &&
	Decorates this command to only run if this condition is not met. More...

CommandPtr	IgnoringDisable (bool doesRunWhenDisabled) &&
	Decorates this command to run or stop when disabled. More...

CommandPtr	WithInterruptBehavior (Command::InterruptionBehavior interruptBehavior) &&
	Decorates this command to run or stop when disabled. More...

CommandPtr	FinallyDo (std::function< void(bool)> end) &&
	Decorates this command with a lambda to call on interrupt or end, following the command's inherent Command::End(bool) method. More...

CommandPtr	HandleInterrupt (std::function< void()> handler) &&
	Decorates this command with a lambda to call on interrupt, following the command's inherent Command::End(bool) method. More...

CommandPtr	WithName (std::string_view name) &&
	Decorates this Command with a name. More...

void	Schedule ()
	Schedules this command. More...

void	Cancel ()
	Cancels this command. More...

bool	IsScheduled () const
	Whether or not the command is currently scheduled. More...

bool	HasRequirement (Subsystem *requirement) const
	Whether the command requires a given subsystem. More...

bool	IsComposed () const
	Whether the command is currently grouped in a command group. More...

void	SetComposed (bool isComposed)
	Sets whether the command is currently composed in a command composition. More...

bool	IsGrouped () const
	Whether the command is currently grouped in a command group. More...

void	SetGrouped (bool grouped)
	Sets whether the command is currently grouped in a command group. More...

virtual bool	RunsWhenDisabled () const
	Whether the given command should run when the robot is disabled. More...

virtual InterruptionBehavior	GetInterruptionBehavior () const
	How the command behaves when another command with a shared requirement is scheduled. More...

virtual std::string	GetName () const
	Gets the name of this Command. More...

virtual void	SetName (std::string_view name)
	Sets the name of this Command. More...

virtual CommandPtr	ToPtr () &&=0
	Transfers ownership of this command to a unique pointer. More...

Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default

virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::SendableHelper< CommandBase >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

SendableHelper &	operator= (const SendableHelper &rhs)=default

SendableHelper &	operator= (SendableHelper &&rhs)

Protected Attributes
PIDController	m_controller

std::function< double()>	m_measurement

std::function< double()>	m_setpoint

std::function< void(double)>	m_useOutput

Protected Attributes inherited from frc2::CommandBase
wpi::SmallSet< Subsystem *, 4 >	m_requirements

Protected Attributes inherited from frc2::Command
bool	m_isComposed = false

Additional Inherited Members
Public Types inherited from frc2::Command
enum class	InterruptionBehavior { kCancelSelf , kCancelIncoming }
	An enum describing the command's behavior when another command with a shared requirement is scheduled. More...

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

Protected Member Functions inherited from frc2::CommandBase
	CommandBase ()

virtual std::unique_ptr< Command >	TransferOwnership () &&=0
	Transfers ownership of this command to a unique pointer. More...

Protected Member Functions inherited from wpi::SendableHelper< CommandBase >
	SendableHelper ()=default

	~SendableHelper ()

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 )

overridevirtual

The action to take when the command ends.

Called when either the command finishes normally, or when it interrupted/canceled.

Parameters

interrupted whether the command was interrupted/canceled

Reimplemented from frc2::Command.

◆ Execute()

void frc2::PIDCommand::Execute ( )

overridevirtual

The main body of a command.

Called repeatedly while the command is scheduled.

Reimplemented from frc2::Command.

◆ GetController()

PIDController & frc2::PIDCommand::GetController ( )

Returns the PIDController used by the command.

Returns: The PIDController

◆ Initialize()

void frc2::PIDCommand::Initialize ( )

overridevirtual

The initial subroutine of a command.

Called once when the command is initially scheduled.

Reimplemented from frc2::Command.

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

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

frc2/command/PIDCommand.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PIDCommand() [1/6]

◆ PIDCommand() [2/6]

◆ PIDCommand() [3/6]

◆ PIDCommand() [4/6]

◆ PIDCommand() [5/6]

◆ PIDCommand() [6/6]

Member Function Documentation

◆ End()

◆ Execute()

◆ GetController()

◆ Initialize()

Member Data Documentation

◆ m_controller

◆ m_measurement

◆ m_setpoint

◆ m_useOutput