Package frc.robot.util.hyperdrive.emulation

Class TankController

java.lang.Object

frc.robot.util.hyperdrive.emulation.TankController

All Implemented Interfaces:

IController

public class TankController
extends java.lang.Object
implements IController

Controller for tank-style robot.

Field Summary

Fields

Modifier and Type	Field	Description
static int	LEFT_CONTROLLER
static int	RIGHT_CONTROLLER

Constructor Summary

Constructors

Constructor	Description
TankController(IEmulateParams parameters)

Method Summary

Modifier and Type	Method	Description
double	calculateOutput(int controllerID, double setpoint, double current)	Uses the specified controller to calculate the necessary percent output to acheive a value.
edu.wpi.first.wpilibj.controller.PIDController	getPIDController(int id)	Returns the PIDController with the given name.

Methods inherited from class java.lang.Object

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

Field Detail

LEFT_CONTROLLER

public static final int LEFT_CONTROLLER

See Also:

Constant Field Values

RIGHT_CONTROLLER

public static final int RIGHT_CONTROLLER

See Also:

Constant Field Values

Constructor Detail

TankController

public TankController(IEmulateParams parameters)

Method Detail

getPIDController

public edu.wpi.first.wpilibj.controller.PIDController getPIDController(int id)

Description copied from interface: IController

Returns the PIDController with the given name. "Index" values will be provided through implementing classes. For example, if using a TankController, possible values are LEFT_CONTROLLER and RIGHT_CONTROLLER.

Specified by:

getPIDController in interface IController

Parameters:

id - The ID of the controller to use. As mentioned earlier, values will be provided as static fields by the implementing class.

Returns:

The PIDController with the specified identity, or a "safe" PIDController (where all gains are set to 0) if there is no such controller.

calculateOutput

public double calculateOutput(int controllerID,
                              double setpoint,
                              double current)

Description copied from interface: IController

Uses the specified controller to calculate the necessary percent output to acheive a value.

Specified by:

calculateOutput in interface IController

Parameters:

controllerID - The ID of the controller to use. For more information about IDs, see IController.getPIDController(int).

setpoint - The desired value to acheive.

current - The current value.

Returns:

The output required to drive the "current" value to the "desired" value.