Java PIDSourceType类代码示例

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
/**
 * Initialize the gyro. Calibration is handled by calibrate().
 */
public void initGyro() {
  result = new AccumulatorResult();

  m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
  m_analog.setAverageBits(kAverageBits);
  m_analog.setOversampleBits(kOversampleBits);
  double sampleRate = kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
  AnalogInput.setGlobalSampleRate(sampleRate);
  Timer.delay(0.1);

  setDeadband(0.0);

  setPIDSourceType(PIDSourceType.kDisplacement);

  UsageReporting.report(tResourceType.kResourceType_Gyro, m_analog.getChannel());
  LiveWindow.addSensor("AnalogGyro", m_analog.getChannel(), this);
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
public Shooter() {

		shooterLeftSide = new Talon(RobotMap.Pwm.LeftShooterMotor);
		shooterRightSide = new Talon(RobotMap.Pwm.RightShooterMotor);

		encoderLeft = new Encoder(RobotMap.Digital.ShooterLeftChannelA, RobotMap.Digital.ShooterLeftChannelB);
		encoderRight = new Encoder(RobotMap.Digital.ShooterRightChannelA, RobotMap.Digital.ShooterRightChannelB);

		encoderLeft.setPIDSourceType(PIDSourceType.kRate);
		encoderRight.setPIDSourceType(PIDSourceType.kRate);
		encoderLeft.setDistancePerPulse(distancePerPulse);
		encoderRight.setDistancePerPulse(distancePerPulse);

		// leftPID = new PIDSpeedController(encoderLeft, shooterLeftSide, "Shooter", "Left Wheel");
		// rightPID = new PIDSpeedController(encoderRight, shooterRightSide, "Shooter", "Right Wheel");

	}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
public Drivetrain() {	
	leftWheelsPIDSource = new EncoderPIDSource(RobotMap.driveEncoderLeft, 1.0 / 14.0, PIDSourceType.kDisplacement);
	//rightWheelsPIDSource = new EncoderPIDSource(RobotMap.driveEncoderRight, -1.0 / 14.0, PIDSourceType.kDisplacement);
	rightWheelsPIDSource = new EncoderPIDSource(RobotMap.driveEncoderRight, ((-1.0 / 360.0) * 250.0) * (1.0 / 14.0), PIDSourceType.kDisplacement);
	
	compassPID = new PIDController(0.1, 0, 0, new CompassPIDSource(), new DummyPIDOutput());
	gyroPID = new PIDController(0.01, 0.0001, 0.00001, new GyroPIDSource(), new DummyPIDOutput());
	leftWheelsPID = new PIDController(0.02, 0.0004, 0, leftWheelsPIDSource, new DummyPIDOutput());
	rightWheelsPID = new PIDController(0.02, 0.0004, 0, rightWheelsPIDSource, new DummyPIDOutput());

	compassPID.disable();
	compassPID.setOutputRange(-1.0, 1.0); // Set turning speed range
	compassPID.setPercentTolerance(5.0); // Set tolerance of 5%
	
	gyroPID.disable();
	gyroPID.setOutputRange(-1.0, 1.0); // Set turning speed range
	gyroPID.setPercentTolerance(5.0); // Set tolerance of 5%
	
	leftWheelsPID.disable();
	leftWheelsPID.setOutputRange(-1.0, 1.0);
	
	rightWheelsPID.disable();
	rightWheelsPID.setOutputRange(-1.0, 1.0);
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
public Lift(int motorChannel, int brakeChannelForward, int brakeChannelReverse, int encoderChannelA,
		int encoderChannelB, int boundaryLimitChannel, String subsystem) {
	motor = new Talon(motorChannel);
	brake = new DoubleSolenoid(RobotMap.solenoid.Pcm24, brakeChannelForward, brakeChannelReverse);
	encoder = new Encoder(encoderChannelA, encoderChannelB);
	boundaryLimit = new DigitalInput(boundaryLimitChannel);

	LiveWindow.addActuator(subsystem, "Motor", motor);
	LiveWindow.addActuator(subsystem, "Brake", brake);
	LiveWindow.addSensor(subsystem, "Encoder", encoder);
	LiveWindow.addSensor(subsystem, "Boundary Limit Switch", boundaryLimit);

	encoder.setPIDSourceType(PIDSourceType.kRate);
	pid = new PIDSpeedController(encoder, motor, subsystem, "Speed Control");
	subsystemName = subsystem;
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
public SetDistanceToBox(double distance) {
	requires(Robot.drivetrain);
	pid = new PIDController(-2, 0, 0, new PIDSource() {
		PIDSourceType m_sourceType = PIDSourceType.kDisplacement;

		public double pidGet() {
			return Robot.drivetrain.getDistanceToObstacle();
		}

		@Override
		public void setPIDSourceType(PIDSourceType pidSource) {
			m_sourceType = pidSource;
		}

		@Override
		public PIDSourceType getPIDSourceType() {
			return m_sourceType;
		}
	}, new PIDOutput() {
		public void pidWrite(double d) {
			Robot.drivetrain.drive(d, d);
		}
	});
	pid.setAbsoluteTolerance(0.01);
	pid.setSetpoint(distance);
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
public DriveStraight(double distance) {
    requires(Robot.drivetrain);
    pid = new PIDController(4, 0, 0,
            new PIDSource() {
                PIDSourceType m_sourceType = PIDSourceType.kDisplacement;

                public double pidGet() {
                    return Robot.drivetrain.getDistance();
                }

                @Override
                public void setPIDSourceType(PIDSourceType pidSource) {
                  m_sourceType = pidSource;
                }

                @Override
                public PIDSourceType getPIDSourceType() {
                    return m_sourceType;
                }
            },
            new PIDOutput() { public void pidWrite(double d) {
                Robot.drivetrain.drive(d, d);
            }});
    pid.setAbsoluteTolerance(0.01);
    pid.setSetpoint(distance);
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
protected static PIDSource sourceFor(SystemModel model, PIDSourceType initialSourceType) {
    return new PIDSource() {
        private PIDSourceType sourceType = initialSourceType;

        @Override
        public PIDSourceType getPIDSourceType() {
            return sourceType;
        }

        @Override
        public void setPIDSourceType(PIDSourceType pidSource) {
            this.sourceType = pidSource;
        }

        @Override
        public double pidGet() {
            return model.getActualValue();
        }
    };
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
public DriveToPeg(){		
	double distance = .2;
	
	requires(Robot.driveBase);
	double kP = -.4;
	double kI = 1;
	double kD = 5;
	
	pid = new PIDController(kP, kI, kD, new PIDSource() {
		PIDSourceType m_sourceType = PIDSourceType.kDisplacement;

		@Override
		public double pidGet() {
			return Robot.driveBase.getDistanceAhead();
		}

		@Override
		public void setPIDSourceType(PIDSourceType pidSource) {
			m_sourceType = pidSource;
		}

		@Override
		public PIDSourceType getPIDSourceType() {
			return m_sourceType;
		}
	}, new PIDOutput() {
		@Override
		public void pidWrite(double d) {
			Robot.driveBase.driveForward(d);
			System.out.println(d);
		}
	});
	pid.setAbsoluteTolerance(0.01);
	pid.setSetpoint(distance);
	pid.setOutputRange(0, .35);
	
	SmartDashboard.putData("driveToPeg", pid);
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
public Drive() {
	initializeGear();
	// setPIDConstants();
	// leftEncoder.setDistancePerPulse(distancePerPulse);
	// rightEncoder.setDistancePerPulse(distancePerPulse);
	leftEncoder.setPIDSourceType(PIDSourceType.kRate);
	rightEncoder.setPIDSourceType(PIDSourceType.kRate);
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
public AimShooter() {

		pot = new AnalogInput(RobotMap.Analog.ShooterPotAngle);
		pot.setPIDSourceType(PIDSourceType.kDisplacement);
		motor = new Victor(RobotMap.Pwm.ShooterAngleMotor);

		anglePID = new PIDSpeedController(pot, motor, "anglePID", "AimShooter");

		updatePIDConstants();
		anglePID.set(0);
	}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
/**
 * Returns the current yaw value reported by the sensor.  This
 * yaw value is useful for implementing features including "auto rotate 
 * to a known angle".
 * @return The current yaw angle in degrees (-180 to 180).
 */
public double pidGet() {
	if ( pid_source_type == PIDSourceType.kRate ) {
		return getRate();
	} else {
		return getYaw();
	}
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
@Override
public void setPIDSourceType(PIDSourceType pidSource) 
{
	
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
@Override
public PIDSourceType getPIDSourceType() 
{
	return PIDSourceType.kDisplacement;
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
	pidSourceType = pidSource;
}
 

import edu.wpi.first.wpilibj.PIDSourceType; //导入依赖的package包/类
@Override
public PIDSourceType getPIDSourceType() {
	return pidSourceType;
}