Package edu.wpi.first.wpilibj2.command

Class PIDCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.PIDCommand

All Implemented Interfaces:

Command

public class PIDCommand
extends CommandBase

A command that controls an output with a PIDController. Runs forever by default - to add exit conditions and/or other behavior, subclass this class. The controller calculation and output are performed synchronously in the command's execute() method.

Constructor Summary

Constructors

Constructor	Description
PIDCommand(PIDController controller, java.util.function.DoubleSupplier measurementSource, double setpoint, java.util.function.DoubleConsumer useOutput, Subsystem... requirements)	Creates a new PIDCommand, which controls the given output with a PIDController.
PIDCommand(PIDController controller, java.util.function.DoubleSupplier measurementSource, java.util.function.DoubleSupplier setpointSource, java.util.function.DoubleConsumer useOutput, Subsystem... requirements)	Creates a new PIDCommand, which controls the given output with a PIDController.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
PIDController	getController()	Returns the PIDController used by the command.
void	initialize()	The initial subroutine of a command.
void	setOutput(java.util.function.DoubleConsumer useOutput)	Sets the function that uses the output of the PIDController.
void	setSetpoint(double setpoint)	Sets the setpoint for the controller to a constant value.
void	setSetpoint(java.util.function.DoubleSupplier setpointSource)	Sets the setpoint for the controller to track the given source.
void	setSetpointRelative(double relativeReference)	Sets the setpoint for the controller to a constant value relative (i.e.

Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase

addRequirements, getRequirements

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Command

alongWith, andThen, asProxy, beforeStarting, cancel, deadlineWith, getName, hasRequirement, interruptOn, isFinished, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, whenFinished, withTimeout

Constructor Details

PIDCommand

public PIDCommand(PIDController controller, java.util.function.DoubleSupplier measurementSource, java.util.function.DoubleSupplier setpointSource, java.util.function.DoubleConsumer useOutput, Subsystem... requirements)

Creates a new PIDCommand, which controls the given output with a PIDController.

Parameters:

controller - the controller that controls the output.

measurementSource - the measurement of the process variable

setpointSource - the controller's setpoint

useOutput - the controller's output

requirements - the subsystems required by this command

PIDCommand

public PIDCommand(PIDController controller, java.util.function.DoubleSupplier measurementSource, double setpoint, java.util.function.DoubleConsumer useOutput, Subsystem... requirements)

Creates a new PIDCommand, which controls the given output with a PIDController.

Parameters:

controller - the controller that controls the output.

measurementSource - the measurement of the process variable

setpoint - the controller's setpoint

useOutput - the controller's output

requirements - the subsystems required by this command

Method Details

initialize

public void initialize()

Description copied from interface: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

execute

public void execute()

Description copied from interface: Command

The main body of a command. Called repeatedly while the command is scheduled.

end

public void end(boolean interrupted)

Description copied from interface: Command

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Parameters:

interrupted - whether the command was interrupted/canceled

setOutput

public final void setOutput(java.util.function.DoubleConsumer useOutput)

Sets the function that uses the output of the PIDController.

Parameters:

useOutput - The function that uses the output.

getController

public PIDController getController()

Returns the PIDController used by the command.

Returns:

The PIDController

setSetpoint

public void setSetpoint(java.util.function.DoubleSupplier setpointSource)

Sets the setpoint for the controller to track the given source.

Parameters:

setpointSource - The setpoint source

setSetpoint

public void setSetpoint(double setpoint)

Sets the setpoint for the controller to a constant value.

Parameters:

setpoint - The setpoint

setSetpointRelative

public void setSetpointRelative(double relativeReference)

Sets the setpoint for the controller to a constant value relative (i.e. added to) the current setpoint.

Parameters:

relativeReference - The change in setpoint