Package edu.wpi.first.wpilibj2.command

Class ProfiledPIDCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.ProfiledPIDCommand

All Implemented Interfaces:

Sendable, Command

public class ProfiledPIDCommand
extends CommandBase

A command that controls an output with a ProfiledPIDController. 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

Nested Class Summary

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Field Summary

Fields

Modifier and Type	Field	Description
protected ProfiledPIDController	m_controller
protected Supplier<TrapezoidProfile.State>	m_goal
protected DoubleSupplier	m_measurement
protected BiConsumer<Double,TrapezoidProfile.State>	m_useOutput

Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

m_requirements

Constructor Summary

Constructors

Constructor	Description
ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, double goal, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, TrapezoidProfile.State goal, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, DoubleSupplier goalSource, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, Supplier<TrapezoidProfile.State> goalSource, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
ProfiledPIDController	getController()	Returns the ProfiledPIDController used by the command.
void	initialize()	The initial subroutine of a command.

Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase

addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Command

alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, getInterruptionBehavior, handleInterrupt, hasRequirement, ignoringDisable, isFinished, isScheduled, perpetually, raceWith, repeatedly, runsWhenDisabled, schedule, unless, until, withInterrupt, withInterruptBehavior, withName, withTimeout

Field Details

m_controller

protected final ProfiledPIDController m_controller

m_measurement

protected DoubleSupplier m_measurement

m_goal

protected Supplier<TrapezoidProfile.State> m_goal

m_useOutput

protected BiConsumer<Double,TrapezoidProfile.State> m_useOutput

Constructor Details

ProfiledPIDCommand

public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, Supplier<TrapezoidProfile.State> goalSource, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is specified.

Parameters:

controller - the controller that controls the output.

measurementSource - the measurement of the process variable

goalSource - the controller's goal

useOutput - the controller's output

requirements - the subsystems required by this command

ProfiledPIDCommand

public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, DoubleSupplier goalSource, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is implicitly zero.

Parameters:

controller - the controller that controls the output.

measurementSource - the measurement of the process variable

goalSource - the controller's goal

useOutput - the controller's output

requirements - the subsystems required by this command

ProfiledPIDCommand

public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, TrapezoidProfile.State goal, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is specified.

Parameters:

controller - the controller that controls the output.

measurementSource - the measurement of the process variable

goal - the controller's goal

useOutput - the controller's output

requirements - the subsystems required by this command

ProfiledPIDCommand

public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, double goal, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is implicitly zero.

Parameters:

controller - the controller that controls the output.

measurementSource - the measurement of the process variable

goal - the controller's goal

useOutput - the controller's output

requirements - the subsystems required by this command

Method Details

initialize

public void initialize()

Description copied from interface: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

execute

public void execute()

Description copied from interface: Command

The main body of a command. Called repeatedly while the command is scheduled.

end

public void end(boolean interrupted)

Description copied from interface: Command

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Do not schedule commands here that share requirements with this command. Use Command.andThen(Command...) instead.

Parameters:

interrupted - whether the command was interrupted/canceled

getController

public ProfiledPIDController getController()

Returns the ProfiledPIDController used by the command.

Returns:

The ProfiledPIDController