Class ExpansionHubVelocityConstants

java.lang.Object

org.wpilib.hardware.expansionhub.ExpansionHubVelocityConstants

public class ExpansionHubVelocityConstants
extends Object

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

Method Summary

Modifier and Type	Method	Description
ExpansionHubVelocityConstants	setFF(double s, double v, double a)	Sets the feed forward gains to the specified values.
ExpansionHubVelocityConstants	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 ExpansionHubVelocityConstants 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.

setFF

public ExpansionHubVelocityConstants 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 motor control period is 10ms

Parameters:

s - The static gain in volts.

v - The velocity gain in volts per unit per second.

a - The acceleration gain in volts per unit per second squared.

Returns:

This object, for method chaining.