Package edu.wpi.first.wpilibj2.command

Class ProfiledPIDCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.ProfiledPIDCommand

All Implemented Interfaces:

Sendable

@Deprecated(forRemoval=true,
            since="2025")
public class ProfiledPIDCommand
extends Command

Deprecated, for removal: This API element is subject to removal in a future version.

Use a ProfiledPIDController instead

A command that controls an output with a ProfiledPIDController. 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 final ProfiledPIDController	m_controller	Deprecated, for removal: This API element is subject to removal in a future version. Profiled PID controller.
protected Supplier<TrapezoidProfile.State>	m_goal	Deprecated, for removal: This API element is subject to removal in a future version. Goal getter.
protected DoubleSupplier	m_measurement	Deprecated, for removal: This API element is subject to removal in a future version. Measurement getter.
protected BiConsumer<Double,TrapezoidProfile.State>	m_useOutput	Deprecated, for removal: This API element is subject to removal in a future version. Profiled PID controller output consumer.

Constructor Summary

Constructors

Constructor	Description
ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, double goal, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)	Deprecated, for removal: This API element is subject to removal in a future version. Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, TrapezoidProfile.State goal, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)	Deprecated, for removal: This API element is subject to removal in a future version. Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, DoubleSupplier goalSource, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)	Deprecated, for removal: This API element is subject to removal in a future version. Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource, Supplier<TrapezoidProfile.State> goalSource, BiConsumer<Double,TrapezoidProfile.State> useOutput, Subsystem... requirements)	Deprecated, for removal: This API element is subject to removal in a future version. Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	Deprecated, for removal: This API element is subject to removal in a future version. The action to take when the command ends.
void	execute()	Deprecated, for removal: This API element is subject to removal in a future version. The main body of a command.
ProfiledPIDController	getController()	Deprecated, for removal: This API element is subject to removal in a future version. Returns the ProfiledPIDController used by the command.
void	initialize()	Deprecated, for removal: This API element is subject to removal in a future version. The initial subroutine of a command.

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

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

Deprecated, for removal: This API element is subject to removal in a future version.

Profiled PID controller.

m_measurement

protected DoubleSupplier m_measurement

Deprecated, for removal: This API element is subject to removal in a future version.

Measurement getter.

m_goal

protected Supplier<TrapezoidProfile.State> m_goal

Deprecated, for removal: This API element is subject to removal in a future version.

Goal getter.

m_useOutput

protected BiConsumer<Double,TrapezoidProfile.State> m_useOutput

Deprecated, for removal: This API element is subject to removal in a future version.

Profiled PID controller output consumer.

Constructor Details

ProfiledPIDCommand

public ProfiledPIDCommand(ProfiledPIDController controller,
 DoubleSupplier measurementSource,
 Supplier<TrapezoidProfile.State> goalSource,
 BiConsumer<Double,TrapezoidProfile.State> useOutput,
 Subsystem... requirements)

Deprecated, for removal: This API element is subject to removal in a future version.

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is specified.

Parameters:

controller - the controller that controls the output.

measurementSource - the measurement of the process variable

goalSource - the controller's goal

useOutput - the controller's output

requirements - the subsystems required by this command

ProfiledPIDCommand

public ProfiledPIDCommand(ProfiledPIDController controller,
 DoubleSupplier measurementSource,
 DoubleSupplier goalSource,
 BiConsumer<Double,TrapezoidProfile.State> useOutput,
 Subsystem... requirements)

Deprecated, for removal: This API element is subject to removal in a future version.

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is implicitly zero.

Parameters:

controller - the controller that controls the output.

measurementSource - the measurement of the process variable

goalSource - the controller's goal

useOutput - the controller's output

requirements - the subsystems required by this command

ProfiledPIDCommand

public ProfiledPIDCommand(ProfiledPIDController controller,
 DoubleSupplier measurementSource,
 TrapezoidProfile.State goal,
 BiConsumer<Double,TrapezoidProfile.State> useOutput,
 Subsystem... requirements)

Deprecated, for removal: This API element is subject to removal in a future version.

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is specified.

Parameters:

controller - the controller that controls the output.

measurementSource - the measurement of the process variable

goal - the controller's goal

useOutput - the controller's output

requirements - the subsystems required by this command

ProfiledPIDCommand

public ProfiledPIDCommand(ProfiledPIDController controller,
 DoubleSupplier measurementSource,
 double goal,
 BiConsumer<Double,TrapezoidProfile.State> useOutput,
 Subsystem... requirements)

Deprecated, for removal: This API element is subject to removal in a future version.

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal velocity is implicitly zero.

Parameters:

controller - the controller that controls the output.

measurementSource - the measurement of the process variable

goal - the controller's goal

useOutput - the controller's output

requirements - the subsystems required by this command

Method Details

initialize

public void initialize()

Deprecated, for removal: This API element is subject to removal in a future version.

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()

Deprecated, for removal: This API element is subject to removal in a future version.

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)

Deprecated, for removal: This API element is subject to removal in a future version.

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 ProfiledPIDController getController()

Deprecated, for removal: This API element is subject to removal in a future version.

Returns the ProfiledPIDController used by the command.

Returns:

The ProfiledPIDController