frc.team670.robot.utils.functions

Class SettingUtils

java.lang.Object

frc.team670.robot.utils.functions.SettingUtils

public class SettingUtils
extends java.lang.Object

Contains utility functions for setting values on certain objects.

Constructor Summary

Constructors

Constructor and Description
SettingUtils()

Method Summary

Modifier and Type	Method and Description
static void	initTalonPID(TalonSRX talon, int slot, double P, double I, double D, double F, double minOutput, double maxOutput, FeedbackDevice feedbackDevice, double secondsFromNeutralToFull) Initializes PID for a TalonSRX controller by setting the PID values, min/max output, the feedback device, and the ramp rate.
static void	releaseController(PIDController controller) Disables controller and releases its resources.

Methods inherited from class java.lang.Object

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

Constructor Detail

SettingUtils

public SettingUtils()

Method Detail

releaseController

public static void releaseController(PIDController controller)

Disables controller and releases its resources.

initTalonPID

public static void initTalonPID(TalonSRX talon,
                                int slot,
                                double P,
                                double I,
                                double D,
                                double F,
                                double minOutput,
                                double maxOutput,
                                FeedbackDevice feedbackDevice,
                                double secondsFromNeutralToFull)

Initializes PID for a TalonSRX controller by setting the PID values, min/max output, the feedback device, and the ramp rate.

Parameters:

talon - The talon for which the control loop is used for

slot - The slot for the PID

P - The proportional constant for PID

I - The integral constant for PID

D - The derivative constant for PID

F - The feed forward constant for PID

minOutput - The minimum output for PID [-1,1]

maxOutput - The maximum ouptut for PID [-1,1]

feedbackDevice - The type of feedback device (probably an encoder) that this motor controller is using

secondsFromNeutralToFull - The ramp rate.