Package frc.robot.util.tunable

Class PIDConstants

java.lang.Object
frc.robot.util.tunable.PIDConstants
All Implemented Interfaces:
Tunable, Cloneable, org.littletonrobotics.junction.inputs.LoggableInputs
public class PIDConstants extends Object implements org.littletonrobotics.junction.inputs.LoggableInputs, Cloneable, Tunable
Tunable constants for PID controllers

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    boolean
    isArm
     
    double
    kA
     
    double
    kD
     
    double
    kG
     
    double
    kI
     
    double
    kP
     
    double
    kS
     
    double
    kV
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    PIDConstants(String name, com.ctre.phoenix6.signals.GravityTypeValue gravityType, double kP, double kI, double kD, double kV, double kS, double kG, double kA)
    Create new PID Constants

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    apply(com.ctre.phoenix6.configs.Slot0Configs config)
    Write PID constants to TalonFX
    PIDConstants
    clone()
     
    void
    fromLog(org.littletonrobotics.junction.LogTable table)
     
    void
    ifDirty(Consumer<PIDConstants> consumer)
    Run function with constants if they've changed.
    void
    toLog(org.littletonrobotics.junction.LogTable table)
     

    Methods inherited from class java.lang.Object

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

  • Field Details

    • kP

      public double kP

    • kD

      public double kD

    • kI

      public double kI

    • kV

      public double kV

    • kS

      public double kS

    • kG

      public double kG

    • kA

      public double kA

    • isArm

      public boolean isArm

  • Constructor Details

    • PIDConstants

      public PIDConstants(String name, com.ctre.phoenix6.signals.GravityTypeValue gravityType, double kP, double kI, double kD, double kV, double kS, double kG, double kA)
      Create new PID Constants

  • Method Details

    • apply

      public void apply(com.ctre.phoenix6.configs.Slot0Configs config)
      Write PID constants to TalonFX

    • ifDirty

      public void ifDirty(Consumer<PIDConstants> consumer)
      Run function with constants if they've changed.

    • toLog

      public void toLog(org.littletonrobotics.junction.LogTable table)
      Specified by:
      toLog in interface org.littletonrobotics.junction.inputs.LoggableInputs

    • fromLog

      public void fromLog(org.littletonrobotics.junction.LogTable table)
      Specified by:
      fromLog in interface org.littletonrobotics.junction.inputs.LoggableInputs

    • clone

      public PIDConstants clone()
      Overrides:
      clone in class Object