Package com.crossbotics.ftchelper.tuning

Class PidTunables

java.lang.Object

com.crossbotics.ftchelper.tuning.PidTunables

public final class PidTunables
extends Object

The four PID gains of one controller as Tunables, in one line.

 static final PidTunables LIFT = PidTunables.of("Lift", 0.004, 0, 0.0002, 0.05);
 // every loop:
 LIFT.applyTo(liftPid);
 

The menu then shows "Lift/kP", "Lift/kI", "Lift/kD" and "Lift/kF". Steps are 1/8 of each starting value (or small defaults when a value is 0).

What the four gains do: see PidController and Tutorial 07 (docs/tutorials/07-pid-lift.md). Docs: docs/guides/tuning.md

Field Summary

Fields

Modifier and Type	Field	Description
final Tunable	kD	The four gains, each one changeable from the TuningMenu.
final Tunable	kF	The four gains, each one changeable from the TuningMenu.
final Tunable	kI	The four gains, each one changeable from the TuningMenu.
final Tunable	kP	The four gains, each one changeable from the TuningMenu.

Method Summary

Modifier and Type	Method	Description
void	applyTo(PidController pid)	Copies the current values into the controller.
static PidTunables	of(String group, double kP, double kI, double kD, double kF)	Makes the four tunables "group/kP" ...

Methods inherited from class java.lang.Object

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

Field Details

kP

public final Tunable kP

The four gains, each one changeable from the TuningMenu. "final": set once, never replaced.

kI

public final Tunable kI

The four gains, each one changeable from the TuningMenu. "final": set once, never replaced.

kD

public final Tunable kD

The four gains, each one changeable from the TuningMenu. "final": set once, never replaced.

kF

public final Tunable kF

The four gains, each one changeable from the TuningMenu. "final": set once, never replaced.

Method Details

of

public static PidTunables of(String group,
 double kP,
 double kI,
 double kD,
 double kF)

Makes the four tunables "group/kP" ... "group/kF".

Parameters:

group - the name shown in the menu, e.g. "Lift"

kP - the P gain in your code

kI - the I gain in your code

kD - the D gain in your code

kF - the feedforward in your code

Returns:

the four tunables together

applyTo

public void applyTo(PidController pid)

Copies the current values into the controller. Call every loop, so a change in the menu is felt on the robot right away.

Parameters:

pid - the controller to update