PIDLoaderFalcon Class Reference

Public Member Functions
	PIDLoaderFalcon (string name, bool adjustable, double p, double i, double d, double ff)
	PIDLoaderFalcon (string name, bool adjustable, double p, double i, double d, double ff, double max, double min)
void	Load (TalonFX &driveMotor)
void	LoadFromNetworkTable (TalonFX &driveMotor)

Private Attributes
string	m_name
bool	m_adjustable
double	m_p
double	m_i
double	m_d
double	m_ff
double	m_max
double	m_min

Detailed Description

Definition at line 13 of file PIDLoaderFalcon.h.

Constructor & Destructor Documentation

PIDLoaderFalcon::PIDLoaderFalcon	(	string	name,
		bool	adjustable,
		double	p,
		double	i,
		double	d,
		double	ff
	)

Definition at line 4 of file PIDLoaderFalcon.cpp.

    : m_name(name)
    , m_adjustable(adjustable)
    , m_p(p)
    , m_i(i)
    , m_d(d)
    , m_ff(ff) {}

PIDLoaderFalcon::PIDLoaderFalcon	(	string	name,
		bool	adjustable,
		double	p,
		double	i,
		double	d,
		double	ff,
		double	max,
		double	min
	)

Definition at line 12 of file PIDLoaderFalcon.cpp.

    : m_name(name)
    , m_adjustable(adjustable)
    , m_p(p)
    , m_i(i)
    , m_d(d)
    , m_ff(ff)
    , m_max(max)
    , m_min(min) {}

Member Function Documentation

void PIDLoaderFalcon::Load

(

TalonFX &

driveMotor

)

Loads drive PID controller with values, also sends default PID values to SmartDashboard

Parameters

driveMotor

The TalonFX responsible for driving

Definition at line 22 of file PIDLoaderFalcon.cpp.

References m_adjustable, m_d, m_ff, m_i, m_max, m_min, m_name, and m_p.

{
    driveMotor.Config_kP(0, m_p);
    driveMotor.Config_kD(0, m_d);
    driveMotor.Config_kF(0, m_ff);
    driveMotor.ConfigPeakOutputForward(m_max);
    driveMotor.ConfigPeakOutputReverse(m_min);

    if (m_adjustable)
    {
        SmartDashboard::PutNumber("T_" + m_name + "_DP", m_p);
        SmartDashboard::PutNumber("T_" + m_name + "_DI", m_i);
        SmartDashboard::PutNumber("T_" + m_name + "_DD", m_d);
        SmartDashboard::PutNumber("T_" + m_name + "_DFF", m_ff);
        SmartDashboard::PutNumber("T_" + m_name + "_DMax", m_max);
        SmartDashboard::PutNumber("T_" + m_name + "_DMin", m_min);
    }
}

void PIDLoaderFalcon::LoadFromNetworkTable

(

TalonFX &

driveMotor

)

Loads drive PID controller with on the fly values from SmartDashboard

Parameters

driveMotor

The TalonFX responsible for driving

if PID coefficients on SmartDashboard have changed, write new values to controller

Definition at line 41 of file PIDLoaderFalcon.cpp.

References m_adjustable, m_d, m_ff, m_i, m_max, m_min, m_name, and m_p.

{
    if (!m_adjustable)
        return;

    double p = SmartDashboard::GetNumber("T_" + m_name + "_DP", m_p);
    double i = SmartDashboard::GetNumber("T_" + m_name + "_DI", m_i);
    double d = SmartDashboard::GetNumber("T_" + m_name + "_DD", m_d);
    double ff = SmartDashboard::GetNumber("T_" + m_name + "_DFF", m_ff);
    double max = SmartDashboard::GetNumber("T_" + m_name + "_DMax", m_max);
    double min = SmartDashboard::GetNumber("T_" + m_name + "_DMin", m_min);

    if ((p != m_p)) { driveMotor.Config_kP(0, p); m_p = p; }
    if ((i != m_i)) { driveMotor.Config_kI(0, i); m_i = i; }
    if ((d != m_d)) { driveMotor.Config_kD(0, d); m_d = d; }
    if ((ff != m_ff)) { driveMotor.Config_kF(0, ff); m_ff = ff; }
    
    if ((max != m_max) || (min != m_min))
    {
        driveMotor.ConfigPeakOutputForward(m_max);
        driveMotor.ConfigPeakOutputReverse(m_min);
        m_min = min;
        m_max = max; 
    }
}

Member Data Documentation

string PIDLoaderFalcon::m_name

private

Definition at line 28 of file PIDLoaderFalcon.h.

bool PIDLoaderFalcon::m_adjustable

private

Definition at line 29 of file PIDLoaderFalcon.h.

double PIDLoaderFalcon::m_p

private

Definition at line 31 of file PIDLoaderFalcon.h.

double PIDLoaderFalcon::m_i

private

Definition at line 32 of file PIDLoaderFalcon.h.

double PIDLoaderFalcon::m_d

private

Definition at line 33 of file PIDLoaderFalcon.h.

double PIDLoaderFalcon::m_ff

private

Definition at line 34 of file PIDLoaderFalcon.h.

double PIDLoaderFalcon::m_max

private

Definition at line 35 of file PIDLoaderFalcon.h.

double PIDLoaderFalcon::m_min

private

Definition at line 36 of file PIDLoaderFalcon.h.

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

• src/main/include/common/PIDLoaderFalcon.h
• src/main/cpp/common/PIDLoaderFalcon.cpp