Package com.marswars.util

Class TunablePid

java.lang.Object

com.marswars.util.TunablePid

public class TunablePid
extends Object

Method Summary

Modifier and Type	Method	Description
static void	create(String key, PhoenixPIDController controller)	Creates tunable PID parameters for a Phoenix PIDController (used in swerve).
static void	create(String key, PIDController controller)	Creates tunable PID parameters for a single WPILib PIDController.
static void	create(String key, PIDController... controllers)	Creates tunable PID parameters for multiple synchronized WPILib PIDControllers.
static void	create(String key, Consumer<SlotConfigs> config_applier, SlotConfigs config)	Creates tunable PID parameters for CTRE Phoenix 6 SlotConfigs.

Methods inherited from class java.lang.Object

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

Method Details

create

public static void create(String key,
 Consumer<SlotConfigs> config_applier,
 SlotConfigs config)

Creates tunable PID parameters for CTRE Phoenix 6 SlotConfigs. Publishes kP, kI, kD, kS, kV, kA, and kG to NetworkTables for live tuning.

Parameters:

key - The NetworkTables key prefix for the PID parameters

config_applier - Consumer that applies the updated configuration to the motor

config - The initial SlotConfigs to use as default values

create

public static void create(String key,
 PIDController controller)

Creates tunable PID parameters for a single WPILib PIDController. Publishes kP, kI, and kD to NetworkTables for live tuning.

Parameters:

key - The NetworkTables key prefix for the PID parameters

controller - The PIDController to tune

create

public static void create(String key,
 PIDController... controllers)

Creates tunable PID parameters for multiple synchronized WPILib PIDControllers. All controllers will be updated together when any parameter changes. Publishes kP, kI, and kD to NetworkTables for live tuning.

Parameters:

key - The NetworkTables key prefix for the PID parameters

controllers - Variable number of PIDControllers to tune together

create

public static void create(String key,
 PhoenixPIDController controller)

Creates tunable PID parameters for a Phoenix PIDController (used in swerve). Publishes kP, kI, and kD to NetworkTables for live tuning.

Parameters:

key - The NetworkTables key prefix for the PID parameters

controller - The PhoenixPIDController to tune