Class ExpansionHubPidConstants

java.lang.Object

org.wpilib.hardware.expansionhub.ExpansionHubPidConstants

public class ExpansionHubPidConstants
extends Object

This class contains PID constants for an ExpansionHub motor.

Method Summary

Modifier and Type	Method	Description
void	disableContinuousInput()	Disable continous input mode.
void	enableContinuousInput(double minimumInput, double maximumInput)	Enables continuous input.
void	setFF(double s, double v, double a)	Sets the feed forward gains to the specified values.
void	setPID(double p, double i, double d)	Sets the PID Controller gain parameters.

Methods inherited from class Object

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

Method Details

setPID

public void setPID(double p,
 double i,
 double d)

Sets the PID Controller gain parameters.

Set the proportional, integral, and differential coefficients.

Parameters:

p - The proportional coefficient.

i - The integral coefficient.

d - The derivative coefficient.

setFF

public void 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).

enableContinuousInput

public void enableContinuousInput(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.

disableContinuousInput

public void disableContinuousInput()

Disable continous input mode.