Package org.team1540.rooster.drive.pipeline

Class HeadingPIDProcessor

java.lang.Object

org.team1540.rooster.drive.pipeline.PIDProcessor<TankDriveData,TankDriveData>

org.team1540.rooster.drive.pipeline.HeadingPIDProcessor

All Implemented Interfaces:

Function<TankDriveData,TankDriveData>, Processor<TankDriveData,TankDriveData>

public class HeadingPIDProcessor
extends PIDProcessor<TankDriveData,TankDriveData>

A PIDProcessor for maintaining a robot's heading.

Constructor Summary

Constructors

Constructor	Description
HeadingPIDProcessor(double p, double i, double d, DoubleSupplier headingSupplier)	Create a new HeadingPIDProcessor without inverted sides that outputs to feed-forward setpoints.
HeadingPIDProcessor(double p, double i, double d, DoubleSupplier headingSupplier, boolean outputToPosition)	Create a new HeadingPIDProcessor without inverted sides.
HeadingPIDProcessor(double p, double i, double d, DoubleSupplier headingSupplier, boolean outputToPosition, boolean invertSides)	Create a new HeadingPIDProcessor.
HeadingPIDProcessor(double p, double i, DoubleSupplier headingSupplier)	Create a new HeadingPIDProcessor without inverted sides that outputs to feed-forward setpoints.
HeadingPIDProcessor(double p, DoubleSupplier headingSupplier)	Create a new HeadingPIDProcessor without inverted sides that outputs to feed-forward setpoints.

Method Summary

Modifier and Type	Method	Description
protected TankDriveData	createOutput(TankDriveData data, double loopOutput)	Create the processor output.
protected double	getError(TankDriveData data)	Extract the PID loop target from the data passed to the processor, and calculate the current error.

Methods inherited from class org.team1540.rooster.drive.pipeline.PIDProcessor

apply, getError, getIAccum, reset

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.util.function.Function

andThen, compose

Methods inherited from interface org.team1540.rooster.functional.Processor

followedBy, process

Constructor Detail

HeadingPIDProcessor

public HeadingPIDProcessor(double p,
                           DoubleSupplier headingSupplier)

Create a new HeadingPIDProcessor without inverted sides that outputs to feed-forward setpoints.

Parameters:

p - The P coefficient.

headingSupplier - A supplier that returns the current heading, in radians from -π to π.

HeadingPIDProcessor

public HeadingPIDProcessor(double p,
                           double i,
                           DoubleSupplier headingSupplier)

Create a new HeadingPIDProcessor without inverted sides that outputs to feed-forward setpoints.

Parameters:

p - The P coefficient.

i - The I coefficient.

headingSupplier - A supplier that returns the current heading, in radians from -π to π.

HeadingPIDProcessor

public HeadingPIDProcessor(double p,
                           double i,
                           double d,
                           DoubleSupplier headingSupplier)

Create a new HeadingPIDProcessor without inverted sides that outputs to feed-forward setpoints.

Parameters:

p - The P coefficient.

i - The I coefficient.

d - The D coefficient.

headingSupplier - A supplier that returns the current heading, in radians from -π to π.

HeadingPIDProcessor

public HeadingPIDProcessor(double p,
                           double i,
                           double d,
                           DoubleSupplier headingSupplier,
                           boolean outputToPosition)

Create a new HeadingPIDProcessor without inverted sides.

Parameters:

p - The P coefficient.

i - The I coefficient.

d - The D coefficient.

headingSupplier - A supplier that returns the current heading, in radians from -π to π.

outputToPosition - Whether to output to the position setpoints (as opposed to the feed-forward setpoints.)

HeadingPIDProcessor

public HeadingPIDProcessor(double p,
                           double i,
                           double d,
                           DoubleSupplier headingSupplier,
                           boolean outputToPosition,
                           boolean invertSides)

Create a new HeadingPIDProcessor.

Parameters:

p - The P coefficient.

i - The I coefficient.

d - The D coefficient.

headingSupplier - A supplier that returns the current heading, in radians from -π to π.

outputToPosition - Whether to output to the position setpoints (as opposed to the feed-forward setpoints.)

invertSides - Whether to invert the output sides. (If true, the loop output will be added to the left side and subtracted from the right, and vice versa.)

Method Detail

getError

protected double getError(TankDriveData data)

Description copied from class: PIDProcessor

Extract the PID loop target from the data passed to the processor, and calculate the current error.

Specified by:

getError in class PIDProcessor<TankDriveData,TankDriveData>

Parameters:

data - The data instance that was passed to the processor's apply() method.

Returns:

The error.

createOutput

protected TankDriveData createOutput(TankDriveData data,
                                     double loopOutput)

Description copied from class: PIDProcessor

Create the processor output.

Specified by:

createOutput in class PIDProcessor<TankDriveData,TankDriveData>

Parameters:

data - The data instance that was passed to the processor's apply() method.

loopOutput - The output of the PID loop

Returns:

The processor's output; this will be returned from the the processor's apply() method.