Class ExpansionHubPositionConstants

java.lang.Object

org.wpilib.hardware.expansionhub.ExpansionHubPositionConstants

public class ExpansionHubPositionConstants
extends Object

This class contains feedback and feedforward constants for an ExpansionHub motor.

Method Summary

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

Methods inherited from class Object

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

Method Details

setPID

public ExpansionHubPositionConstants 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.

Returns:

This object, for method chaining.

setS

public ExpansionHubPositionConstants setS(double s)

Sets the feed forward gains to the specified values.

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

The motor control period is 10ms

Parameters:

s - The static gain in volts.

Returns:

This object, for method chaining.

enableContinuousInput

public ExpansionHubPositionConstants 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.

Returns:

This object, for method chaining.

disableContinuousInput

public ExpansionHubPositionConstants disableContinuousInput()

Disable continuous input mode.

Returns:

This object, for method chaining.