Package edu.wpi.first.wpilibj2.command

Class PIDSubsystem

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
edu.wpi.first.wpilibj2.command.PIDSubsystem
All Implemented Interfaces:
Sendable, Subsystem
@Deprecated(forRemoval=true, since="2025") public abstract class PIDSubsystem extends SubsystemBase
Deprecated, for removal: This API element is subject to removal in a future version.
Use a PIDController instead
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

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    protected final PIDController
    m_controller
    Deprecated, for removal: This API element is subject to removal in a future version.
    PID controller.
    protected boolean
    m_enabled
    Deprecated, for removal: This API element is subject to removal in a future version.
    Whether PID controller output is enabled.

  • Constructor Summary

    Constructors
    Constructor
    Description
    PIDSubsystem(PIDController controller)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Creates a new PIDSubsystem.
    PIDSubsystem(PIDController controller, double initialPosition)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Creates a new PIDSubsystem.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    disable()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Disables the PID control.
    void
    enable()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Enables the PID control.
    PIDController
    getController()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Returns the PIDController.
    protected abstract double
    getMeasurement()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Returns the measurement of the process variable used by the PIDController.
    double
    getSetpoint()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Returns the current setpoint of the subsystem.
    boolean
    isEnabled()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Returns whether the controller is enabled.
    void
    periodic()
    Deprecated, for removal: This API element is subject to removal in a future version.
    This method is called periodically by the CommandScheduler.
    final void
    setSetpoint(double setpoint)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Sets the setpoint for the subsystem.
    protected abstract void
    useOutput(double output, double setpoint)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Uses the output from the PIDController.

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

    addChild, getName, getSubsystem, initSendable, setName, setSubsystem

    Methods inherited from class java.lang.Object

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

    Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

    defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

  • Field Details

    • m_controller

      protected final PIDController m_controller
      Deprecated, for removal: This API element is subject to removal in a future version.
      PID controller.

    • m_enabled

      protected boolean m_enabled
      Deprecated, for removal: This API element is subject to removal in a future version.
      Whether PID controller output is enabled.

  • Constructor Details

    • PIDSubsystem

      public PIDSubsystem(PIDController controller, double initialPosition)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Creates a new PIDSubsystem.
      Parameters:
      controller - the PIDController to use
      initialPosition - the initial setpoint of the subsystem

    • PIDSubsystem

      public PIDSubsystem(PIDController controller)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Creates a new PIDSubsystem. Initial setpoint is zero.
      Parameters:
      controller - the PIDController to use

  • Method Details

    • periodic

      public void periodic()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Description copied from interface: Subsystem
      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.

    • getController

      public PIDController getController()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Returns the PIDController.
      Returns:
      The controller.

    • setSetpoint

      public final void setSetpoint(double setpoint)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Sets the setpoint for the subsystem.
      Parameters:
      setpoint - the setpoint for the subsystem

    • getSetpoint

      public double getSetpoint()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Returns the current setpoint of the subsystem.
      Returns:
      The current setpoint

    • useOutput

      protected abstract void useOutput(double output, double setpoint)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Uses the output from the PIDController.
      Parameters:
      output - the output of the PIDController
      setpoint - the setpoint of the PIDController (for feedforward)

    • getMeasurement

      protected abstract double getMeasurement()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Returns the measurement of the process variable used by the PIDController.
      Returns:
      the measurement of the process variable

    • enable

      public void enable()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Enables the PID control. Resets the controller.

    • disable

      public void disable()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Disables the PID control. Sets output to zero.

    • isEnabled

      public boolean isEnabled()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Returns whether the controller is enabled.
      Returns:
      Whether the controller is enabled.