frc2::PIDCommand Class Reference

A command that controls an output with a PIDController. More...

#include <frc2/command/PIDCommand.h>

Inheritance diagram for frc2::PIDCommand:

Public Member Functions
	PIDCommand (frc::PIDController controller, std::function< double()> measurementSource, std::function< double()> setpointSource, std::function< void(double)> useOutput, Requirements requirements={})
	Creates a new PIDCommand, which controls the given output with a PIDController.
	PIDCommand (frc::PIDController controller, std::function< double()> measurementSource, double setpoint, std::function< void(double)> useOutput, Requirements requirements={})
	Creates a new PIDCommand, which controls the given output with a PIDController with a constant setpoint.
	PIDCommand (PIDCommand &&other)=default
	PIDCommand (const PIDCommand &other)=default
void	Initialize () override
void	Execute () override
void	End (bool interrupted) override
frc::PIDController &	GetController ()
	Returns the PIDController used by the command.
Public Member Functions inherited from frc2::CommandHelper< Command, PIDCommand >
	CommandHelper ()=default
CommandPtr	ToPtr () &&override

Protected Attributes
frc::PIDController	m_controller
	PID controller.
std::function< double()>	m_measurement
	Measurement getter.
std::function< double()>	m_setpoint
	Setpoint getter.
std::function< void(double)>	m_useOutput
	PID controller output consumer.

Detailed Description

A command that controls an output with a PIDController.

Runs forever by default - to add exit conditions and/or other behavior, subclass this class. The controller calculation and output are performed synchronously in the command's execute() method.

This class is provided by the NewCommands VendorDep

See also

PIDController

Constructor & Destructor Documentation

PIDCommand() [1/4]

frc2::PIDCommand::PIDCommand	(	frc::PIDController	controller,
		std::function< double()>	measurementSource,
		std::function< double()>	setpointSource,
		std::function< void(double)>	useOutput,
		Requirements	requirements = {} )

Creates a new PIDCommand, which controls the given output with a PIDController.

Parameters

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
setpointSource	the controller's reference (aka setpoint)
useOutput	the controller's output
requirements	the subsystems required by this command

Deprecated

Use a PIDController instead

PIDCommand() [2/4]

frc2::PIDCommand::PIDCommand	(	frc::PIDController	controller,
		std::function< double()>	measurementSource,
		double	setpoint,
		std::function< void(double)>	useOutput,
		Requirements	requirements = {} )

Creates a new PIDCommand, which controls the given output with a PIDController with a constant setpoint.

Parameters

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
setpoint	the controller's setpoint (aka setpoint)
useOutput	the controller's output
requirements	the subsystems required by this command

Deprecated

Use a PIDController instead

PIDCommand() [3/4]

frc2::PIDCommand::PIDCommand ( PIDCommand && other )

default

PIDCommand() [4/4]

frc2::PIDCommand::PIDCommand ( const PIDCommand & other )

default

Member Function Documentation

End()

void frc2::PIDCommand::End ( bool interrupted )

override

Execute()

void frc2::PIDCommand::Execute ( )

override

GetController()

frc::PIDController & frc2::PIDCommand::GetController

(

)

Returns the PIDController used by the command.

Returns

The PIDController

Initialize()

void frc2::PIDCommand::Initialize ( )

override

Member Data Documentation

m_controller

frc::PIDController frc2::PIDCommand::m_controller

protected

PID controller.

m_measurement

std::function<double()> frc2::PIDCommand::m_measurement

protected

Measurement getter.

m_setpoint

std::function<double()> frc2::PIDCommand::m_setpoint

protected

Setpoint getter.

m_useOutput

std::function<void(double)> frc2::PIDCommand::m_useOutput

protected

PID controller output consumer.

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

• frc2/command/PIDCommand.h