Reefscape2025/frc.robot.utils.pingu/Pingu

Pingu

public final class Pingu

A class that extends the PIDController to include additional parameters.

Throws

NullPointerException

if v, s, or g are not set and are then accessed.

Constructors

Pingu

@JvmOverloads()

public Pingu Pingu(Double p, Double i, Double d, Double v, Double s, Double g)

@JvmOverloads()

public Pingu Pingu(Double p, Double i, Double d, Double v, Double s)

@JvmOverloads()

public Pingu Pingu(Double p, Double i, Double d, Double v)

@JvmOverloads()

public Pingu Pingu(Double p, Double i, Double d)

Properties

private Double d

The derivative gain.

private Double g

The gravity gain.

private Double i

The integral gain.

private Double p

The proportional gain.

pidController

private final PIDController pidController

Gets the PIDController instance with the current p, i, and d values.

profiledPIDController

private final ProfiledPIDController profiledPIDController

private Double s

The static gain.

private Double v

The velocity gain.

Functions

getD

public final Double getD()

The derivative gain.

getG

public final Double getG()

The gravity gain.

getI

public final Double getI()

The integral gain.

getP

public final Double getP()

The proportional gain.

getPidController

public final PIDController getPidController()

getProfiledPIDController

public final ProfiledPIDController getProfiledPIDController()

getS

public final Double getS()

The static gain.

getV

public final Double getV()

The velocity gain.

setD

public final Unit setD(Double d)

The derivative gain.

public final Unit setD(LoggedNetworkNumber d)

Sets the derivative gain (d) from a LoggedNetworkNumber.

setG

public final Unit setG(Double g)

The gravity gain.

public final Unit setG(LoggedNetworkNumber g)

Sets the gravity gain (g) from a LoggedNetworkNumber.

setI

public final Unit setI(Double i)

The integral gain.

public final Unit setI(LoggedNetworkNumber i)

Sets the integral gain (i) from a LoggedNetworkNumber.

setP

public final Unit setP(Double p)

The proportional gain.

public final Unit setP(LoggedNetworkNumber p)

Sets the proportional gain (p) from a LoggedNetworkNumber.

setPID

public final Unit setPID(PIDController pidController)

Sets the PID values from the given PIDController instance.

setS

public final Unit setS(Double s)

The static gain.

public final Unit setS(LoggedNetworkNumber s)

Sets the static gain (s) from a LoggedNetworkNumber.

setV

public final Unit setV(Double v)

The velocity gain.

public final Unit setV(LoggedNetworkNumber v)

Sets the velocity gain (v) from a LoggedNetworkNumber.