Package edu.wpi.first.wpilibj2.command

Class ProfiledPIDSubsystem

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem
All Implemented Interfaces:
Sendable, Subsystem
@Deprecated(forRemoval=true, since="2025") public abstract class ProfiledPIDSubsystem extends SubsystemBase
Deprecated, for removal: This API element is subject to removal in a future version.
Use a ProfiledPIDController instead
A subsystem that uses a ProfiledPIDController 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 ProfiledPIDController
    m_controller
    Deprecated, for removal: This API element is subject to removal in a future version.
    Profiled PID controller.
    protected boolean
    m_enabled
    Deprecated, for removal: This API element is subject to removal in a future version.
    Whether the profiled PID controller output is enabled.

  • Constructor Summary

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

  • 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.
    ProfiledPIDController
    getController()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Returns the ProfiledPIDController.
    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 ProfiledPIDController.
    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
    setGoal(double goal)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Sets the goal state for the subsystem.
    final void
    setGoal(TrapezoidProfile.State goal)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Sets the goal state for the subsystem.
    protected abstract void
    useOutput(double output, TrapezoidProfile.State setpoint)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Uses the output from the ProfiledPIDController.

    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 ProfiledPIDController m_controller
      Deprecated, for removal: This API element is subject to removal in a future version.
      Profiled PID controller.

    • m_enabled

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

  • Constructor Details

    • ProfiledPIDSubsystem

      public ProfiledPIDSubsystem(ProfiledPIDController controller, double initialPosition)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Creates a new ProfiledPIDSubsystem.
      Parameters:
      controller - the ProfiledPIDController to use
      initialPosition - the initial goal position of the controller

    • ProfiledPIDSubsystem

      public ProfiledPIDSubsystem(ProfiledPIDController controller)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Creates a new ProfiledPIDSubsystem. Initial goal position is zero.
      Parameters:
      controller - the ProfiledPIDController 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 ProfiledPIDController getController()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Returns the ProfiledPIDController.
      Returns:
      The controller.

    • setGoal

      public final void setGoal(TrapezoidProfile.State goal)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Sets the goal state for the subsystem.
      Parameters:
      goal - The goal state for the subsystem's motion profile.

    • setGoal

      public final void setGoal(double goal)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Sets the goal state for the subsystem. Goal velocity assumed to be zero.
      Parameters:
      goal - The goal position for the subsystem's motion profile.

    • useOutput

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