wpi::ExpansionHubPidConstants Class Reference

This class contains PID constants for an ExpansionHub motor. More...

#include <wpi/hardware/expansionhub/ExpansionHubPidConstants.hpp>

Public Member Functions
void	SetPID (double p, double i, double d)
	Sets the PID Controller gain parameters.
void	SetFF (double s, double v, double a)
	Sets the feed forward gains to the specified values.
void	EnableContinousInput (double minimumInput, double maximumInput)
	Enables continuous input.
void	DisableContinousInput ()
	Disables continuous input.
	ExpansionHubPidConstants (ExpansionHubPidConstants &)=delete
ExpansionHubPidConstants &	operator= (ExpansionHubPidConstants &)=delete
	ExpansionHubPidConstants (ExpansionHubPidConstants &&)=default
ExpansionHubPidConstants &	operator= (ExpansionHubPidConstants &&)=default

Friends
class	ExpansionHubMotor

Detailed Description

This class contains PID constants for an ExpansionHub motor.

Constructor & Destructor Documentation

ExpansionHubPidConstants() [1/2]

wpi::ExpansionHubPidConstants::ExpansionHubPidConstants ( ExpansionHubPidConstants & )

delete

ExpansionHubPidConstants() [2/2]

wpi::ExpansionHubPidConstants::ExpansionHubPidConstants ( ExpansionHubPidConstants && )

default

Member Function Documentation

DisableContinousInput()

void wpi::ExpansionHubPidConstants::DisableContinousInput

(

)

Disables continuous input.

EnableContinousInput()

void wpi::ExpansionHubPidConstants::EnableContinousInput	(	double	minimumInput,
		double	maximumInput )

Enables continuous input.

Rather then using the max and min input range as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.

Parameters

minimumInput	The minimum value expected from the input.
maximumInput	The maximum value expected from the input.

operator=() [1/2]

ExpansionHubPidConstants & wpi::ExpansionHubPidConstants::operator= ( ExpansionHubPidConstants && )

default

operator=() [2/2]

ExpansionHubPidConstants & wpi::ExpansionHubPidConstants::operator= ( ExpansionHubPidConstants & )

delete

SetFF()

void wpi::ExpansionHubPidConstants::SetFF	(	double	s,
		double	v,
		double	a )

Sets the feed forward gains to the specified values.

The units should be radians for angular systems and meters for linear systems.

The PID control period is 10ms

Parameters

s	The static gain in volts.
v	The velocity gain in V/(units/s).
a	The acceleration gain in V/(units/s²).

SetPID()

void wpi::ExpansionHubPidConstants::SetPID	(	double	p,
		double	i,
		double	d )

Sets the PID Controller gain parameters.

Sets the proportional, integral, and differential coefficients.

Parameters

p	The proportional coefficient. Must be >= 0.
i	The integral coefficient. Must be >= 0.
d	The differential coefficient. Must be >= 0.

Friends And Related Symbol Documentation

ExpansionHubMotor

friend class ExpansionHubMotor

friend

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

• wpi/hardware/expansionhub/ExpansionHubPidConstants.hpp