Package edu.wpi.first.wpilibj2.command

Class PIDCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.PIDCommand

All Implemented Interfaces:

Sendable

public class PIDCommand
extends Command

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

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Field Summary

Fields

Modifier and Type	Field	Description
protected PIDController	m_controller	PID controller.
protected DoubleSupplier	m_measurement	Measurement getter.
protected DoubleSupplier	m_setpoint	Setpoint getter.
protected DoubleConsumer	m_useOutput	PID controller output consumer.

Fields inherited from class edu.wpi.first.wpilibj2.command.Command

m_requirements

Constructor Summary

Constructors

Constructor	Description
PIDCommand(PIDController controller, DoubleSupplier measurementSource, double setpoint, DoubleConsumer useOutput, Subsystem... requirements)	Creates a new PIDCommand, which controls the given output with a PIDController.
PIDCommand(PIDController controller, DoubleSupplier measurementSource, DoubleSupplier setpointSource, DoubleConsumer useOutput, Subsystem... requirements)	Creates a new PIDCommand, which controls the given output with a PIDController.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
PIDController	getController()	Returns the PIDController used by the command.
void	initialize()	The initial subroutine of a command.

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isFinished, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout

Methods inherited from class java.lang.Object

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

Field Details

m_controller

protected final PIDController m_controller

PID controller.

m_measurement

protected DoubleSupplier m_measurement

Measurement getter.

m_setpoint

protected DoubleSupplier m_setpoint

Setpoint getter.

m_useOutput

protected DoubleConsumer m_useOutput

PID controller output consumer.

Constructor Details

PIDCommand

public PIDCommand(PIDController controller, DoubleSupplier measurementSource, DoubleSupplier setpointSource, DoubleConsumer useOutput, Subsystem... 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 setpoint

useOutput - the controller's output

requirements - the subsystems required by this command

PIDCommand

public PIDCommand(PIDController controller, DoubleSupplier measurementSource, double setpoint, DoubleConsumer useOutput, Subsystem... 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

setpoint - the controller's setpoint

useOutput - the controller's output

requirements - the subsystems required by this command

Method Details

initialize

public void initialize()

Description copied from class: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

Overrides:

initialize in class Command

execute

public void execute()

Description copied from class: Command

The main body of a command. Called repeatedly while the command is scheduled.

Overrides:

execute in class Command

end

public void end(boolean interrupted)

Description copied from class: Command

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Do not schedule commands here that share requirements with this command. Use Command.andThen(Command...) instead.

Overrides:

end in class Command

Parameters:

interrupted - whether the command was interrupted/canceled

getController

public PIDController getController()

Returns the PIDController used by the command.

Returns:

The PIDController