frc2::PIDSubsystem Class Reference

A subsystem that uses a PIDController to control an output. More...

#include <frc2/command/PIDSubsystem.h>

Inheritance diagram for frc2::PIDSubsystem:

Public Member Functions
	PIDSubsystem (frc::PIDController controller, double initialPosition=0)
	Creates a new PIDSubsystem.
void	Periodic () override
	This method is called periodically by the CommandScheduler.
void	SetSetpoint (double setpoint)
	Sets the setpoint for the subsystem.
double	GetSetpoint () const
	Gets the setpoint for the subsystem.
virtual void	Enable ()
	Enables the PID control.
virtual void	Disable ()
	Disables the PID control.
bool	IsEnabled ()
	Returns whether the controller is enabled.
frc::PIDController &	GetController ()
	Returns the PIDController.
Public Member Functions inherited from frc2::SubsystemBase
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object.
std::string	GetName () const override
	Gets the name of this Subsystem.
void	SetName (std::string_view name)
	Sets the name of this Subsystem.
std::string	GetSubsystem () const
	Gets the subsystem name of this Subsystem.
void	SetSubsystem (std::string_view name)
	Sets the subsystem name of this Subsystem.
void	AddChild (std::string name, wpi::Sendable *child)
	Associate a Sendable with this Subsystem.
Public Member Functions inherited from frc2::Subsystem
virtual	~Subsystem ()
virtual void	SimulationPeriodic ()
	This method is called periodically by the CommandScheduler.
template<std::derived_from< Command > T>
void	SetDefaultCommand (T &&defaultCommand)
	Sets the default Command of the subsystem.
void	SetDefaultCommand (CommandPtr &&defaultCommand)
	Sets the default Command of the subsystem.
void	RemoveDefaultCommand ()
	Removes the default command for the subsystem.
Command *	GetDefaultCommand () const
	Gets the default command for this subsystem.
Command *	GetCurrentCommand () const
	Returns the command currently running on this subsystem.
void	Register ()
	Registers this subsystem with the CommandScheduler, allowing its Periodic() method to be called when the scheduler runs.
CommandPtr	RunOnce (std::function< void()> action)
	Constructs a command that runs an action once and finishes.
CommandPtr	Run (std::function< void()> action)
	Constructs a command that runs an action every iteration until interrupted.
CommandPtr	StartEnd (std::function< void()> start, std::function< void()> end)
	Constructs a command that runs an action once and another action when the command is interrupted.
CommandPtr	RunEnd (std::function< void()> run, std::function< void()> end)
	Constructs a command that runs an action every iteration until interrupted, and then runs a second action.
CommandPtr	StartRun (std::function< void()> start, std::function< void()> run)
	Constructs a command that runs an action once, and then runs an action every iteration until interrupted.
CommandPtr	Defer (wpi::unique_function< CommandPtr()> supplier)
	Constructs a DeferredCommand with the provided supplier.
Public Member Functions inherited from wpi::Sendable
virtual constexpr	~Sendable ()=default
Public Member Functions inherited from wpi::SendableHelper< SubsystemBase >
constexpr	SendableHelper (const SendableHelper &rhs)=default
constexpr	SendableHelper (SendableHelper &&rhs)
constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default
constexpr SendableHelper &	operator= (SendableHelper &&rhs)

Protected Member Functions
virtual double	GetMeasurement ()=0
	Returns the measurement of the process variable used by the PIDController.
virtual void	UseOutput (double output, double setpoint)=0
	Uses the output from the PIDController.
Protected Member Functions inherited from frc2::SubsystemBase
	SubsystemBase ()
	Constructor.
	SubsystemBase (std::string_view name)
	Constructor.
Protected Member Functions inherited from wpi::SendableHelper< SubsystemBase >
constexpr	SendableHelper ()=default
constexpr	~SendableHelper ()

Protected Attributes
frc::PIDController	m_controller
	PID controller.
bool	m_enabled {false}
	Whether PID controller output is enabled.

Detailed Description

A subsystem that uses a PIDController to control an output.

The controller is run synchronously from the subsystem's periodic() method.

This class is provided by the NewCommands VendorDep

See also

PIDController

Deprecated

Use a PIDController instead

Constructor & Destructor Documentation

PIDSubsystem()

frc2::PIDSubsystem::PIDSubsystem ( frc::PIDController controller, double initialPosition = 0 )

explicit

Creates a new PIDSubsystem.

Parameters

controller	the PIDController to use
initialPosition	the initial setpoint of the subsystem

Member Function Documentation

Disable()

virtual void frc2::PIDSubsystem::Disable ( )

virtual

Disables the PID control.

Sets output to zero.

Enable()

virtual void frc2::PIDSubsystem::Enable ( )

virtual

Enables the PID control.

Resets the controller.

GetController()

frc::PIDController & frc2::PIDSubsystem::GetController

(

)

Returns the PIDController.

Returns

The controller.

GetMeasurement()

virtual double frc2::PIDSubsystem::GetMeasurement ( )

protectedpure virtual

Returns the measurement of the process variable used by the PIDController.

Returns

the measurement of the process variable

GetSetpoint()

double frc2::PIDSubsystem::GetSetpoint

(

)

const

Gets the setpoint for the subsystem.

Returns

the setpoint for the subsystem

IsEnabled()

bool frc2::PIDSubsystem::IsEnabled

(

)

Returns whether the controller is enabled.

Returns

Whether the controller is enabled.

Periodic()

void frc2::PIDSubsystem::Periodic ( )

overridevirtual

This method is called periodically by the CommandScheduler.

Useful for updating subsystem-specific state that you don't want to offload to a Command. Teams should try to be consistent within their own codebases about which responsibilities will be handled by Commands, and which will be handled here.

Reimplemented from frc2::Subsystem.

SetSetpoint()

void frc2::PIDSubsystem::SetSetpoint

(

double

setpoint

)

Sets the setpoint for the subsystem.

Parameters

setpoint

the setpoint for the subsystem

UseOutput()

virtual void frc2::PIDSubsystem::UseOutput ( double output, double setpoint )

protectedpure virtual

Uses the output from the PIDController.

Parameters

output	the output of the PIDController
setpoint	the setpoint of the PIDController (for feedforward)

Member Data Documentation

m_controller

frc::PIDController frc2::PIDSubsystem::m_controller

protected

PID controller.

m_enabled

bool frc2::PIDSubsystem::m_enabled {false}

protected

Whether PID controller output is enabled.

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

• frc2/command/PIDSubsystem.h