Public Member Functions
	PIDLoaderNEO (string name, bool adjustable, double p, double i, double d, double iz, double ia)

	PIDLoaderNEO (string name, bool adjustable, double p, double i, double d, double iz, double ia, double ff, double max, double min)

void	Load (CANPIDController &turnPIDController)

void	LoadFromNetworkTable (CANPIDController &turnPIDController)

Private Attributes
string	m_name

bool	m_adjustable

double	m_p

double	m_i

double	m_d

double	m_iz

double	m_ia

double	m_ff

double	m_max

double	m_min

Detailed Description

Definition at line 19 of file PIDLoaderNEO.h.

Constructor & Destructor Documentation

PIDLoaderNEO::PIDLoaderNEO	(	string	name,
		bool	adjustable,
		double	p,
		double	i,
		double	d,
		double	iz,
		double	ia
	)

Definition at line 4 of file PIDLoaderNEO.cpp.

     : m_name(name)
     , m_adjustable(adjustable)
     , m_p(p)
     , m_i(i)
     , m_d(d)
     , m_iz(iz)
     , m_ia(ia) {}

PIDLoaderNEO::PIDLoaderNEO	(	string	name,
		bool	adjustable,
		double	p,
		double	i,
		double	d,
		double	iz,
		double	ia,
		double	ff,
		double	max,
		double	min
	)

Definition at line 13 of file PIDLoaderNEO.cpp.

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

Member Function Documentation

void PIDLoaderNEO::Load ( CANPIDController & turnPIDController )

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

Parameters

turnPIDController The CANPIDController of the CANSparkMax responsible for turning

Definition at line 25 of file PIDLoaderNEO.cpp.

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

 {
     turnPIDController.SetP(m_p);
     turnPIDController.SetI(m_i);
     turnPIDController.SetD(m_d);
     turnPIDController.SetIZone(m_iz);
     turnPIDController.SetIMaxAccum(m_ia);
     turnPIDController.SetFF(m_ff);
     turnPIDController.SetOutputRange(m_min, m_max);
     
     if (m_adjustable)
     {
         SmartDashboard::PutNumber("T_" + m_name + "_TP", m_p);
         SmartDashboard::PutNumber("T_" + m_name + "_TI", m_i);
         SmartDashboard::PutNumber("T_" + m_name + "_TD", m_d);
         SmartDashboard::PutNumber("T_" + m_name + "_TIZone", m_iz);
         SmartDashboard::PutNumber("T_" + m_name + "_TIAccum", m_ia);
         SmartDashboard::PutNumber("T_" + m_name + "_TFF", m_ff);
         SmartDashboard::PutNumber("T_" + m_name + "_TMax", m_max);
         SmartDashboard::PutNumber("T_" + m_name + "_TMin", m_min);
     }
 }

void PIDLoaderNEO::LoadFromNetworkTable ( CANPIDController & turnPIDController )

Loads turn PID controller with on the fly values from SmartDashboard

Parameters

turnPIDController The CANPIDController of the CANSparkMax responsible for turning

Definition at line 48 of file PIDLoaderNEO.cpp.

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

 {
     if (!m_adjustable)
         return;
 
     double p = SmartDashboard::GetNumber("T_" + m_name + "_TP", m_p);
     double i = SmartDashboard::GetNumber("T_" + m_name + "_TI", m_i);
     double d = SmartDashboard::GetNumber("T_" + m_name + "_TD", m_d);
     double iz = SmartDashboard::GetNumber("T_" + m_name + "_TIZone", m_iz);
     double ia = SmartDashboard::GetNumber("T_" + m_name + "_TIAccum", m_ia);
     double ff = SmartDashboard::GetNumber("T_" + m_name + "_TFF", m_ff);
     double max = SmartDashboard::GetNumber("T_" + m_name + "_TMax", m_max);
     double min = SmartDashboard::GetNumber("T_" + m_name + "_TMin", m_min);
 
     // if PID coefficients on SmartDashboard have changed, write new values to controller
     if ((p != m_p)) { turnPIDController.SetP(p); m_p = p; }
     if ((i != m_i)) { turnPIDController.SetI(i); m_i = i; }
     if ((d != m_d)) { turnPIDController.SetD(d); m_d = d; }
     if ((iz != m_iz)) { turnPIDController.SetIZone(iz); m_iz = iz; }
     if ((ia != m_ia)) { turnPIDController.SetIAccum(ia); m_ia = ia; }
     if ((ff != m_ff)) { turnPIDController.SetFF(ff); m_ff = ff; }
     
     if ((max != m_max) || (min != m_min))
     { 
         turnPIDController.SetOutputRange(min, max);
         m_min = min;
         m_max = max; 
     }
 }

Member Data Documentation

string PIDLoaderNEO::m_name

private

Definition at line 34 of file PIDLoaderNEO.h.

bool PIDLoaderNEO::m_adjustable

private

Definition at line 35 of file PIDLoaderNEO.h.

double PIDLoaderNEO::m_p

private

Definition at line 37 of file PIDLoaderNEO.h.

double PIDLoaderNEO::m_i

private

Definition at line 38 of file PIDLoaderNEO.h.

double PIDLoaderNEO::m_d

private

Definition at line 39 of file PIDLoaderNEO.h.

double PIDLoaderNEO::m_iz

private

Definition at line 40 of file PIDLoaderNEO.h.

double PIDLoaderNEO::m_ia

private

Definition at line 41 of file PIDLoaderNEO.h.

double PIDLoaderNEO::m_ff

private

Definition at line 42 of file PIDLoaderNEO.h.

double PIDLoaderNEO::m_max

private

Definition at line 43 of file PIDLoaderNEO.h.

double PIDLoaderNEO::m_min

private

Definition at line 44 of file PIDLoaderNEO.h.

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

src/main/include/common/PIDLoaderNEO.h
src/main/cpp/common/PIDLoaderNEO.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation