#include <PIDSubsystem.h>

Inheritance diagram for PIDSubsystem:

Collaboration diagram for PIDSubsystem:

Public Member Functions
	PIDSubsystem (const char *name, double p, double i, double d)

	PIDSubsystem (const char *name, double p, double i, double d, double f)

	PIDSubsystem (const char *name, double p, double i, double d, double f, double period)

	PIDSubsystem (double p, double i, double d)

	PIDSubsystem (double p, double i, double d, double f)

	PIDSubsystem (double p, double i, double d, double f, double period)

void	Enable ()

void	Disable ()

virtual void	PIDWrite (float output)

virtual double	PIDGet ()

void	SetSetpoint (double setpoint)

void	SetSetpointRelative (double deltaSetpoint)

void	SetInputRange (float minimumInput, float maximumInput)

double	GetSetpoint ()

double	GetPosition ()

virtual void	SetAbsoluteTolerance (float absValue)

virtual void	SetPercentTolerance (float percent)

virtual bool	OnTarget ()

virtual void	InitTable (ITable *table)

virtual std::string	GetSmartDashboardType ()

Public Member Functions inherited from Subsystem
	Subsystem (const char *name)

void	SetDefaultCommand (Command *command)

Command *	GetDefaultCommand ()

void	SetCurrentCommand (Command *command)

Command *	GetCurrentCommand ()

virtual void	InitDefaultCommand ()

virtual std::string	GetName ()

virtual ITable *	GetTable ()

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (ErrorBase *rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Protected Member Functions
PIDController *	GetPIDController ()

virtual double	ReturnPIDInput ()=0

virtual void	UsePIDOutput (double output)=0

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Additional Inherited Members
Public Types inherited from PIDSource
enum	PIDSourceParameter { kDistance, kRate, kAngle }

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Protected Attributes inherited from Subsystem
ITable *	m_table

Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

static Error	_globalError

Detailed Description

This class is designed to handle the case where there is a Subsystem which uses a single PIDController almost constantly (for instance, an elevator which attempts to stay at a constant height).

It provides some convenience methods to run an internal PIDController. It also allows access to the internal PIDController in order to give total control to the programmer.

Definition at line 25 of file PIDSubsystem.h.

Constructor & Destructor Documentation

PIDSubsystem::PIDSubsystem	(	const char *	name,
		double	p,
		double	i,
		double	d
	)

Instantiates a PIDSubsystem that will use the given p, i and d values.

Parameters

name	the name
p	the proportional value
i	the integral value
d	the derivative value

Definition at line 20 of file PIDSubsystem.cpp.

PIDSubsystem::PIDSubsystem	(	const char *	name,
		double	p,
		double	i,
		double	d,
		double	f
	)

Instantiates a PIDSubsystem that will use the given p, i and d values.

Parameters

name	the name
p	the proportional value
i	the integral value
d	the derivative value
f	the feedforward value

Definition at line 34 of file PIDSubsystem.cpp.

PIDSubsystem::PIDSubsystem	(	const char *	name,
		double	p,
		double	i,
		double	d,
		double	f,
		double	period
	)

Instantiates a PIDSubsystem that will use the given p, i and d values. It will also space the time between PID loop calculations to be equal to the given period.

Parameters

name	the name
p	the proportional value
i	the integral value
d	the derivative value
f	the feedfoward value
period	the time (in seconds) between calculations

Definition at line 50 of file PIDSubsystem.cpp.

PIDSubsystem::PIDSubsystem	(	double	p,
		double	i,
		double	d
	)

Instantiates a PIDSubsystem that will use the given p, i and d values. It will use the class name as its name.

Parameters

p	the proportional value
i	the integral value
d	the derivative value

Definition at line 64 of file PIDSubsystem.cpp.

PIDSubsystem::PIDSubsystem	(	double	p,
		double	i,
		double	d,
		double	f
	)

Instantiates a PIDSubsystem that will use the given p, i and d values. It will use the class name as its name.

Parameters

p	the proportional value
i	the integral value
d	the derivative value
f	the feedforward value

Definition at line 78 of file PIDSubsystem.cpp.

PIDSubsystem::PIDSubsystem	(	double	p,
		double	i,
		double	d,
		double	f,
		double	period
	)

Instantiates a PIDSubsystem that will use the given p, i and d values. It will use the class name as its name. It will also space the time between PID loop calculations to be equal to the given period.

Parameters

p	the proportional value
i	the integral value
d	the derivative value
f	the feedforward value
period	the time (in seconds) between calculations

Definition at line 95 of file PIDSubsystem.cpp.

Member Function Documentation

void PIDSubsystem::Disable ( )

Disables the internal PIDController

Definition at line 117 of file PIDSubsystem.cpp.

void PIDSubsystem::Enable ( )

Enables the internal PIDController

Definition at line 109 of file PIDSubsystem.cpp.

PIDController * PIDSubsystem::GetPIDController ( )

protected

Returns the PIDController used by this PIDSubsystem. Use this if you would like to fine tune the pid loop.

Returns: the PIDController used by this PIDSubsystem

Definition at line 129 of file PIDSubsystem.cpp.

double PIDSubsystem::GetPosition ( )

Returns the current position

Returns: the current position

Definition at line 215 of file PIDSubsystem.cpp.

double PIDSubsystem::GetSetpoint ( )

Return the current setpoint

Returns: The current setpoint

Definition at line 161 of file PIDSubsystem.cpp.

std::string PIDSubsystem::GetSmartDashboardType ( )

virtual

Returns: the string representation of the named data type that will be used by the smart dashboard for this sendable

Reimplemented from Subsystem.

Definition at line 231 of file PIDSubsystem.cpp.

void PIDSubsystem::InitTable ( ITable * subtable )

virtual

Initializes a table for this sendable object.

Parameters

subtable The table to put the values in.

Reimplemented from Subsystem.

Definition at line 234 of file PIDSubsystem.cpp.

void PIDSubsystem::SetInputRange	(	float	minimumInput,
		float	maximumInput
	)

Sets the maximum and minimum values expected from the input.

Parameters

minimumInput	the minimum value expected from the input
maximumInput	the maximum value expected from the output

Definition at line 172 of file PIDSubsystem.cpp.

void PIDSubsystem::SetSetpoint ( double setpoint )

Sets the setpoint to the given value. If SetRange(...) was called, then the given setpoint will be trimmed to fit within the range.

Parameters

setpoint the new setpoint

Definition at line 141 of file PIDSubsystem.cpp.

void PIDSubsystem::SetSetpointRelative ( double deltaSetpoint )

Adds the given value to the setpoint. If SetRange(...) was used, then the bounds will still be honored by this method.

Parameters

deltaSetpoint the change in the setpoint

Definition at line 152 of file PIDSubsystem.cpp.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation