mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 08:48:01 -06:00
Keenan D. Buckley
0b452d3309
- Also improved the Gains object to have two constructors depending on what kind of output limits you want.
66 lines
2.3 KiB
Java
66 lines
2.3 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.utility;
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/**
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* Add your docs here.
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*/
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public class Gains {
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public double m_kP;
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public double m_kI;
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public double m_kD;
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public double m_kF;
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public int m_kIzone;
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public double m_kPeakOutput;
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public double m_kmaxOutput;
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public double m_kminOutput;
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/**
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* Creates Gains object for PIDs
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* @param kP The P value.
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* @param kI The I value.
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* @param kD The D value.
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* @param kF The F value.
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* @param kIzone The zone of the I value.
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* @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0.
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*/
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public Gains(double kP, double kI, double kD, double kF, int kIzone, double kPeakOutput)
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{
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m_kP = kP;
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m_kI = kI;
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m_kD = kD;
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m_kF = kF;
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m_kIzone = kIzone;
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m_kPeakOutput = kPeakOutput;
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m_kmaxOutput = m_kPeakOutput;
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m_kminOutput = -m_kPeakOutput;
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}
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/**
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* Creates Gains object for PIDs
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* @param kP The P value.
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* @param kI The I value.
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* @param kD The D value.
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* @param kF The F value.
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* @param kIzone The zone of the I value.
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* @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0.
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* @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0.
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*/
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public Gains(double kP, double kI, double kD, double kF, int kIzone, double kMinOutput, double kMaxOutput)
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{
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m_kP = kP;
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m_kI = kI;
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m_kD = kD;
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m_kF = kF;
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m_kIzone = kIzone;
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m_kminOutput = kMinOutput;
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m_kmaxOutput = kMaxOutput;
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m_kPeakOutput = (Math.abs(m_kminOutput) > Math.abs(m_kmaxOutput)) ? Math.abs(m_kminOutput) : Math.abs(m_kmaxOutput);
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}
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}
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