Swerve-Drive/src/main/java/frc4388/utility/Gains.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc4388.utility;

/** Add your docs here. */
public class Gains {
    public double m_kP;
    public double m_kI;
    public double m_kD;
    public double m_kF;
    public int m_kIzone;
    public double m_kPeakOutput;
    public double m_kmaxOutput;
    public double m_kminOutput;

    /**
     * Creates Gains object for PIDs
     * @param kP The P value.
     * @param kI The I value.
     * @param kD The D value.
     * @param kF The F value.
     * @param kIzone The zone of the I value.
     * @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0.
     */
    public Gains(double kP, double kI, double kD, double kF, int kIzone, double kPeakOutput)
    {
        m_kP = kP;
        m_kI = kI;
        m_kD = kD;
        m_kF = kF;
        m_kIzone = kIzone;
        m_kPeakOutput = kPeakOutput;
        m_kmaxOutput = m_kPeakOutput;
        m_kminOutput = -m_kPeakOutput;
    }

    /**
     * Creates Gains object for PIDs
     * @param kP The P value.
     * @param kI The I value.
     * @param kD The D value.
     * @param kF The F value.
     * @param kIzone The zone of the I value.
     * @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0.
     * @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0.
     */
    public Gains(double kP, double kI, double kD, double kF, int kIzone, double kMinOutput, double kMaxOutput)
    {
        m_kP = kP;
        m_kI = kI;
        m_kD = kD;
        m_kF = kF;
        m_kIzone = kIzone;
        m_kminOutput = kMinOutput;
        m_kmaxOutput = kMaxOutput;
        m_kPeakOutput = (Math.abs(m_kminOutput) > Math.abs(m_kmaxOutput)) ? Math.abs(m_kminOutput) : Math.abs(m_kmaxOutput);
    }
}