PIDController

java.lang.Object
- org.firstinspires.ftc.teamcode.util.motion.PIDController

```
public class PIDController
extends java.lang.Object
```
This class handles all PID related methods for opMode use.

Field Summary

Fields
Modifier and Type	Field and Description
`private boolean`	`m_continuous`
`private double`	`m_D`
`private boolean`	`m_enabled`
`private double`	`m_error`
`private double`	`m_I`
`private double`	`m_input`
`private double`	`m_maximumInput`
`private double`	`m_maximumOutput`
`private double`	`m_minimumInput`
`private double`	`m_minimumOutput`
`private double`	`m_P`
`private double`	`m_prevError`
`private double`	`m_result`
`private double`	`m_setpoint`
`private double`	`m_tolerance`
`private double`	`m_totalError`

Constructor Summary

Constructors
Constructor and Description

PIDController(double Kp, double Ki, double Kd)
Allocate a PID object with the given constants for P, I, D

Constructors
Constructor and Description
`PIDController(double Kp, double Ki, double Kd)` Allocate a PID object with the given constants for P, I, D

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`private void`	`calculate()` Read the input, calculate the output accordingly, and write to the output.
`void`	`disable()` Stop running the PIDController.
`void`	`enable()` Begin running the PIDController
`double`	`getD()` Get the Differential coefficient
`double`	`getError()` Retruns the current difference of the input from the setpoint
`double`	`getI()` Get the Integral coefficient
`double`	`getP()` Get the Proportional coefficient
`double`	`getSetpoint()` Returns the current setpoint of the PIDController
`boolean`	`onTarget()` Return true if the error is within the percentage of the total input range, determined by setTolerance.
`double`	`performPID()` Return the current PID result for the last input set with setInput().
`double`	`performPID(double input)` Return the current PID result for the specified input.
`void`	`reset()` Reset the previous error,, the integral term, and disable the controller.
`void`	`setContinuous()` Set the PID controller to consider the input to be continuous, Rather then using the max and min in as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.
`void`	`setContinuous(boolean continuous)` Set the PID controller to consider the input to be continuous, Rather then using the max and min in as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.
`void`	`setInput(double input)` Set the input value to be used by the next call to performPID().
`void`	`setInputRange(double minimumInput, double maximumInput)` Sets the maximum and minimum values expected from the input.
`void`	`setOutputRange(double minimumOutput, double maximumOutput)` Sets the minimum and maximum values to write.
`void`	`setPID(double p, double i, double d)` Set the PID Controller gain parameters.
`void`	`setSetpoint(double setpoint)` Set the setpoint for the PIDController
`void`	`setTolerance(double percent)` Set the percentage error which is considered tolerable for use with OnTarget.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - m_P
```
private double m_P
```
  - m_I
```
private double m_I
```
  - m_D
```
private double m_D
```
  - m_input
```
private double m_input
```
  - m_maximumOutput
```
private double m_maximumOutput
```
  - m_minimumOutput
```
private double m_minimumOutput
```
  - m_maximumInput
```
private double m_maximumInput
```
  - m_minimumInput
```
private double m_minimumInput
```
  - m_continuous
```
private boolean m_continuous
```
  - m_enabled
```
private boolean m_enabled
```
  - m_prevError
```
private double m_prevError
```
  - m_totalError
```
private double m_totalError
```
  - m_tolerance
```
private double m_tolerance
```
  - m_setpoint
```
private double m_setpoint
```
  - m_error
```
private double m_error
```
  - m_result
```
private double m_result
```
- Constructor Detail
  - PIDController
```
public PIDController(double Kp,
                     double Ki,
                     double Kd)
```
    Allocate a PID object with the given constants for P, I, D
    
    Parameters:
    
    Kp - the proportional coefficient
    
    Ki - the integral coefficient
    
    Kd - the derivative coefficient
- Method Detail
  - calculate
```
private void calculate()
```
    Read the input, calculate the output accordingly, and write to the output. This should only be called by the PIDTask and is created during initialization.
  - setPID
```
public void setPID(double p,
                   double i,
                   double d)
```
    Set the PID Controller gain parameters. Set the proportional, integral, and differential coefficients.
    
    Parameters:
    
    p - Proportional coefficient
    
    i - Integral coefficient
    
    d - Differential coefficient
  - getP
```
public double getP()
```
    Get the Proportional coefficient
    
    Returns:
    
    proportional coefficient
  - getI
```
public double getI()
```
    Get the Integral coefficient
    
    Returns:
    
    integral coefficient
  - getD
```
public double getD()
```
    Get the Differential coefficient
    
    Returns:
    
    differential coefficient
  - performPID
```
public double performPID()
```
    Return the current PID result for the last input set with setInput(). This is always centered on zero and constrained the the max and min outs
    
    Returns:
    
    the latest calculated output
  - performPID
```
public double performPID(double input)
```
    Return the current PID result for the specified input.
    
    Parameters:
    
    input - The input value to be used to calculate the PID result. This is always centered on zero and constrained the the max and min outs
    
    Returns:
    
    the latest calculated output
  - setContinuous
```
public void setContinuous(boolean continuous)
```
    Set the PID controller to consider the input to be continuous, Rather then using the max and min in as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.
    
    Parameters:
    
    continuous - Set to true turns on continuous, false turns off continuous
  - setContinuous
```
public void setContinuous()
```
    Set the PID controller to consider the input to be continuous, Rather then using the max and min in as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.
  - setInputRange
```
public void setInputRange(double minimumInput,
                          double maximumInput)
```
    Sets the maximum and minimum values expected from the input.
    
    Parameters:
    
    minimumInput - the minimum value expected from the input, always positive
    
    maximumInput - the maximum value expected from the output, always positive
  - setOutputRange
```
public void setOutputRange(double minimumOutput,
                           double maximumOutput)
```
    Sets the minimum and maximum values to write.
    
    Parameters:
    
    minimumOutput - the minimum value to write to the output, always positive
    
    maximumOutput - the maximum value to write to the output, always positive
  - setSetpoint
```
public void setSetpoint(double setpoint)
```
    Set the setpoint for the PIDController
    
    Parameters:
    
    setpoint - the desired setpoint
  - getSetpoint
```
public double getSetpoint()
```
    Returns the current setpoint of the PIDController
    
    Returns:
    
    the current setpoint
  - getError
```
public double getError()
```
    Retruns the current difference of the input from the setpoint
    
    Returns:
    
    the current error
  - setTolerance
```
public void setTolerance(double percent)
```
    Set the percentage error which is considered tolerable for use with OnTarget. (Input of 15.0 = 15 percent)
    
    Parameters:
    
    percent - error which is tolerable
  - onTarget
```
public boolean onTarget()
```
    Return true if the error is within the percentage of the total input range, determined by setTolerance. This assumes that the maximum and minimum input were set using setInputRange.
    
    Returns:
    
    true if the error is less than the tolerance
  - enable
```
public void enable()
```
    Begin running the PIDController
  - disable
```
public void disable()
```
    Stop running the PIDController.
  - reset
```
public void reset()
```
    Reset the previous error,, the integral term, and disable the controller.
  - setInput
```
public void setInput(double input)
```
    Set the input value to be used by the next call to performPID().
    
    Parameters:
    
    input - Input value to the PID calculation.

Class PIDController

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

m_P

m_I

m_D

m_input

m_maximumOutput

m_minimumOutput

m_maximumInput

m_minimumInput

m_continuous

m_enabled

m_prevError

m_totalError

m_tolerance

m_setpoint

m_error

m_result

Constructor Detail

PIDController

Method Detail

calculate

setPID

getP

getI

getD

performPID

performPID

setContinuous

setContinuous

setInputRange

setOutputRange

setSetpoint

getSetpoint

getError

setTolerance

onTarget

enable

disable

reset

setInput