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Java PIDController.setAbsoluteTolerance方法代碼示例

本文整理匯總了Java中edu.wpi.first.wpilibj.PIDController.setAbsoluteTolerance方法的典型用法代碼示例。如果您正苦於以下問題：Java PIDController.setAbsoluteTolerance方法的具體用法？Java PIDController.setAbsoluteTolerance怎麽用？Java PIDController.setAbsoluteTolerance使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類edu.wpi.first.wpilibj.PIDController的用法示例。


在下文中一共展示了PIDController.setAbsoluteTolerance方法的15個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Java代碼示例。

示例1: DriveDistanceDiff

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
/**
 * Requires DriveTrain, DriveEncoders, Gyro, Ultrasonic
 * @param setpoint distance to move in inches
 */
public DriveDistanceDiff(double setpoint){
    requires(Robot.drivetrain);
    requires(Robot.driveEncoders);
    requires(Robot.ultrasonic);
    this.setpoint=setpoint;
    pid = new PIDController(0.1, 0, 0, Robot.driveEncoders.getEncoderLeft(), new pidOutput());
    pidRight = new PIDController(0.1,0,0,Robot.driveEncoders.getEncoderRight(),new pidOutputRight());
    if(setpoint>0){
        pid.setInputRange(0,setpoint+10);
        pidRight.setInputRange(0,setpoint+10);
    }else{
        pid.setInputRange(setpoint-10,0);
        pidRight.setInputRange(setpoint-10,0);
    }
    pid.setAbsoluteTolerance(0.5);
    pidRight.setAbsoluteTolerance(0.5);
    pid.setOutputRange(-0.6,0.6);
    pidRight.setOutputRange(-0.6,0.6);
    pid.setSetpoint(setpoint);
    pidRight.setSetpoint(setpoint);
}
開發者ID:mr-glt，項目名稱:FRC-2017-Command，代碼行數:26，代碼來源:DriveDistanceDiff.java

示例2: DriveDistance

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
/**
 * Requires DriveTrain, DriveEncoders, Gyro, Ultrasonic
 * @param setpoint distance to move in inches
 */
public DriveDistance(double setpoint, boolean stoppable, double turn){
    requires(Robot.drivetrain);
    requires(Robot.driveEncoders);
    requires(Robot.gyro);
    requires(Robot.ultrasonic);
    this.setpoint=setpoint;
    this.stoppable=stoppable;
    this.turn=turn;
    pid = new PIDController(0.40, 0, 0, Robot.driveEncoders.getEncoderLeft(), new pidOutput());
    pidTurn = new PIDController(0.2, 0.02, 0.4, Robot.gyro.getGyro(), new pidOutputTurn());

    pidTurn.setOutputRange(-0.50,0.50);
    if(setpoint>0){
        pid.setInputRange(0,setpoint+10);
    }else{
        pid.setInputRange(setpoint-10,0);
    }
    pid.setAbsoluteTolerance(0.5);
    pid.setOutputRange(-0.6,0.6);
    pid.setSetpoint(setpoint);
    System.out.println("Driving Forward for:  " + setpoint);
}
開發者ID:mr-glt，項目名稱:FRC-2017-Command，代碼行數:27，代碼來源:DriveDistance.java

示例3: JsonAutonomous

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
/**
 * Creates a JsonAutonomous from the specified file
 * @param file The location of the file to parse
 */
public JsonAutonomous(String file)
{
	ap_ds = DriverStation.getInstance();
	turn = new PIDController(0.02, 0, 0, Robot.navx, this);
	turn.setInputRange(-180, 180);
	turn.setOutputRange(-0.7, 0.7);
	turn.setAbsoluteTolerance(0.5);
	turn.setContinuous(true);
	
	straighten = new PIDController(0.01, 0, 0, Robot.navx, this);
	straighten.setInputRange(-180, 180);
	straighten.setOutputRange(-0.7, 0.7);
	straighten.setAbsoluteTolerance(0);
	straighten.setContinuous(true);
	
	turn.setPID(Config.getSetting("auto_turn_p", 0.02), 
			Config.getSetting("auto_turn_i", 0.00001),
			Config.getSetting("auto_turn_d", 0));
	straighten.setPID(Config.getSetting("auto_straight_p", 0.2), 
			Config.getSetting("auto_straight_i", 0),
			Config.getSetting("auto_straight_d", 0));
	parseFile(file);
}
開發者ID:RAR1741，項目名稱:RA17_RobotCode，代碼行數:28，代碼來源:JsonAutonomous.java

示例4: AutoTurnToPeg

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
/**
 * Constructor specifying setpoint angle.
 * @param setPointAngle
 */
public AutoTurnToPeg(double setPointAngle) {
    requires(Robot.driveTrain);
    //requires(Robot.ultrasonics);
    //requires(Robot.visionTest);
    requires(Robot.navx);

    this.setPointAngle = setPointAngle;

    turnController = new PIDController(kP, kI, kD, Robot.navx.getAHRS(), new MyPidOutput());
    turnController.setInputRange(-180, 180);
    turnController.setOutputRange(-maxOutputRange, maxOutputRange);
    turnController.setAbsoluteTolerance(kToleranceDegrees);
    turnController.setContinuous(true);
    
    /* Add the PID Controller to the Test-mode dashboard, allowing manual  */
    /* tuning of the Turn Controller's P, I and D coefficients.            */
    /* Typically, only the P value needs to be modified.                   */
    //LiveWindow.addSensor("DriveSystem", "RotateController", turnController);
}
開發者ID:cyborgs3335，項目名稱:STEAMworks，代碼行數:24，代碼來源:AutoTurnToPeg.java

示例5: AutoDriveDistance

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
/**
* 
* @param distance target distance in inches
* @param timeOut time out in milliseconds
*/
  public AutoDriveDistance(double distance, long timeOut) {
      requires(Robot.driveTrain);
      //requires(Robot.ultrasonics);
      requires(Robot.navx);

      targetDistance = distance;
      timeMax = timeOut;

      turnController = new PIDController(kP, kI, kD, Robot.driveTrain, new MyPidOutput());
      //turnController.setInputRange(-180, 180);
      turnController.setOutputRange(-maxOutputRange, maxOutputRange);
      turnController.setAbsoluteTolerance(kToleranceDistance);
      turnController.setContinuous(true);
      
      /* Add the PID Controller to the Test-mode dashboard, allowing manual  */
      /* tuning of the Turn Controller's P, I and D coefficients.            */
      /* Typically, only the P value needs to be modified.                   */
      LiveWindow.addSensor("DriveSystem", "RotateController", turnController);
  }
開發者ID:cyborgs3335，項目名稱:STEAMworks，代碼行數:25，代碼來源:AutoDriveDistance.java

示例6: AutoSteerDriveToPeg

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
private AutoSteerDriveToPeg() {
    requires(Robot.driveTrain);
    //requires(Robot.ultrasonics);
    //requires(Robot.visionTest);
    requires(Robot.navx);
    
    turnController = new PIDController(kP, kI, kD, Robot.navx.getAHRS(), new MyPidOutput());
    turnController.setInputRange(-maxAbsSetpoint, maxAbsSetpoint);
    turnController.setOutputRange(-maxOutputRange, maxOutputRange);
    turnController.setAbsoluteTolerance(kToleranceDegrees);
    turnController.setContinuous(true);
    
    /* Add the PID Controller to the Test-mode dashboard, allowing manual  */
    /* tuning of the Turn Controller's P, I and D coefficients.            */
    /* Typically, only the P value needs to be modified.                   */
    LiveWindow.addSensor("DriveSystem", "RotateController", turnController);
}
開發者ID:cyborgs3335，項目名稱:STEAMworks，代碼行數:18，代碼來源:AutoSteerDriveToPeg.java

示例7: AutoTurnByVision

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
/**
* 
* @param speed forward speed is positive volts
*/
  public AutoTurnByVision(double speed) {
      requires(Robot.driveTrain);
      //requires(Robot.ultrasonics);
      requires(Robot.visionTest);
      requires(Robot.navx);

      forwardSpeed = -speed;
      turnController = new PIDController(kP, kI, kD, Robot.navx.getAHRS()/*Robot.visionTest*/, new MyPidOutput());
      turnController.setInputRange(-180, 180);
      turnController.setOutputRange(-maxOutputRange, maxOutputRange);
      turnController.setAbsoluteTolerance(kToleranceDegrees);
      turnController.setContinuous(true); // TODO is this what we want???
      
      /* Add the PID Controller to the Test-mode dashboard, allowing manual  */
      /* tuning of the Turn Controller's P, I and D coefficients.            */
      /* Typically, only the P value needs to be modified.                   */
      LiveWindow.addSensor("DriveSystem", "RotateController", turnController);
  }
開發者ID:cyborgs3335，項目名稱:STEAMworks，代碼行數:23，代碼來源:AutoTurnByVision.java

示例8: Drivetrain

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
public Drivetrain()
{
	backModule = new SwerveModule(RobotMap.backWheelEncoder, RobotMap.backModulePot, RobotMap.backWheelMotor, RobotMap.backModuleMotor, RobotMap.WHEEL_TOP_ABSOLUTE_SPEED, 0, -32.5, "backModule");
	leftModule = new SwerveModule(RobotMap.leftWheelEncoder, RobotMap.leftModulePot, RobotMap.leftWheelMotor, RobotMap.leftModuleMotor, RobotMap.WHEEL_TOP_ABSOLUTE_SPEED, -17.25, 0, "leftModule");
	rightModule = new SwerveModule(RobotMap.rightWheelEncoder, RobotMap.rightModulePot, RobotMap.rightWheelMotor, RobotMap.rightModuleMotor, RobotMap.WHEEL_TOP_ABSOLUTE_SPEED, 17.25, 0, "rightModule");
	swerves = new SwerveModule[3];
	swerves[0] = backModule;
	swerves[1] = leftModule;
	swerves[2] = rightModule;
	
	odometry = new Odometry();
    
    absoluteTwistPID = new PIDController(RobotMap.ABSOLUTE_TWIST_kP, RobotMap.ABSOLUTE_TWIST_kI, RobotMap.ABSOLUTE_TWIST_kD, RobotMap.navX, absoluteTwistPIDOutput);
    absoluteTwistPID.setInputRange(-180, 180);
    absoluteTwistPID.setOutputRange(-RobotMap.WHEEL_TOP_ABSOLUTE_SPEED, RobotMap.WHEEL_TOP_ABSOLUTE_SPEED);
    absoluteTwistPID.setContinuous();
    absoluteTwistPID.setAbsoluteTolerance(1);
    
    absoluteCrabPID = new PIDController(RobotMap.ABSOLUTE_CRAB_kP, RobotMap.ABSOLUTE_CRAB_kI, RobotMap.ABSOLUTE_CRAB_kD, odometry, absoluteCrabPIDOutput);
    absoluteCrabPID.setAbsoluteTolerance(.2);
    
    (new Thread(odometry)).start();
}
開發者ID:246overclocked，項目名稱:scorpion，代碼行數:24，代碼來源:Drivetrain.java

示例9: Arm

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
public Arm() {
    shoulder = new PIDController(RobotMap.ARM_SHOULDER_kP, RobotMap.ARM_SHOULDER_kI, RobotMap.ARM_SHOULDER_kD, RobotMap.armShoulderPot, RobotMap.armShoulderMotor, .02);
    shoulder.setInputRange(RobotMap.ARM_SHOULDER_MIN, RobotMap.ARM_SHOULDER_MAX);
    shoulder.setOutputRange(-RobotMap.ARM_MAX_SPEED, RobotMap.ARM_MAX_SPEED);
    shoulder.setAbsoluteTolerance(5);
    elbow = new PIDController(RobotMap.ARM_ELBOW_kP, RobotMap.ARM_ELBOW_kI, RobotMap.ARM_ELBOW_kD, RobotMap.armElbowPot, RobotMap.armElbowMotor, .02);
    elbow.setInputRange(-180, 180);
    elbow.setOutputRange(-RobotMap.ARM_MAX_SPEED, RobotMap.ARM_MAX_SPEED);
    elbow.setAbsoluteTolerance(5);
    wrist = new PIDController(RobotMap.ARM_WRIST_kP, RobotMap.ARM_WRIST_kI, RobotMap.ARM_WRIST_kD, RobotMap.armWristPot, RobotMap.armWristMotor, .02);
    wrist.setInputRange(-180, 180);
    wrist.setOutputRange(-RobotMap.ARM_MAX_SPEED, RobotMap.ARM_MAX_SPEED);
    wrist.setAbsoluteTolerance(5);
    
    LiveWindow.addActuator("Arm", "shoulder", shoulder);
    LiveWindow.addActuator("Arm", "elbow", elbow);
    LiveWindow.addActuator("Arm", "wrist", wrist);
}
開發者ID:246overclocked，項目名稱:scorpion，代碼行數:19，代碼來源:Arm.java

示例10: SetDistanceToBox

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
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);
}
開發者ID:FRC1458，項目名稱:turtleshell，代碼行數:27，代碼來源:SetDistanceToBox.java

示例11: DriveStraight

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
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);
}
開發者ID:FRC1458，項目名稱:turtleshell，代碼行數:27，代碼來源:DriveStraight.java

示例12: initialize

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
protected void initialize() {
    	pid = new PIDController(0.1, 0.1, 0, RobotMap.imu, new TurnController(), 0.01);
    	
    	startingAngle = RobotMap.imu.getYaw();
    	double deltaAngle = angle + startingAngle;
//    	deltaAngle %= 360;
    	while (deltaAngle >= 180)
    		deltaAngle -= 360;
    	while (deltaAngle < -180)
    		deltaAngle += 360;
    	Preferences.getInstance().putDouble("YawSetpoint", deltaAngle);
    	
    	pid.setAbsoluteTolerance(2);
    	pid.setInputRange(-180, 180);
    	pid.setContinuous(true);
    	pid.setOutputRange(-1 * rotateSpeed, 1 * rotateSpeed);
    	pid.setSetpoint(deltaAngle);
    	pid.enable();
    	//SmartDashboard.putData("PID", pid);
    
    }
開發者ID:FRC2832，項目名稱:Robot_2015，代碼行數:22，代碼來源:Rotate.java

示例13: SwervePod

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
public SwervePod(SpeedController turningMotor, SpeedController driveMotor, Encoder encoder, double encoderDistancePerTick, AngularSensor directionSensor) {
    // Initialize motors //
    _turningMotor = turningMotor;
    _driveMotor = driveMotor;
    
    // Initialize sensors //
    _encoder = encoder;
    _encoder.setPIDSourceParameter(PIDSource.PIDSourceParameter.kRate);
    _encoder.setDistancePerPulse(encoderDistancePerTick);
    _encoder.start();
    _directionSensor = directionSensor;
    
    // Initialize PID loops //
    // Turning //
    PIDTurning = new PIDController(Kp_turning, Ki_turning, Kd_turning, _directionSensor, _turningMotor);
    PIDTurning.setOutputRange(minSpeed, maxSpeed);
    PIDTurning.setContinuous(true);
    PIDTurning.setAbsoluteTolerance(tolerance_turning);
    PIDTurning.enable();
    
    // Linear driving //
    PIDDriving = new PIDController(Kp_driving, Ki_driving, Kd_driving, _encoder, _driveMotor);
    PIDDriving.setOutputRange(minSpeed, maxSpeed);
    PIDDriving.disable(); //TODO: Enable
}
開發者ID:Whillikers，項目名稱:SwerveDrive，代碼行數:26，代碼來源:SwervePod.java

示例14: RotateDriveTrain

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
/**
 *
 * @param theta degrees to rotate drive train.
 */
public RotateDriveTrain(double theta){
    requires(Robot.drivetrain);
    requires(Robot.driveEncoders);
    requires(Robot.gyro);
    this.theta=theta;
    pid = new PIDController(0.55, 0.002, 0.4, Robot.gyro.getGyro(), new pidOutput());
    pid.setAbsoluteTolerance(0.25);
    pid.setInputRange(-360,360);
    pid.setOutputRange(-0.65,0.65);
    pid.setSetpoint(theta);
}
開發者ID:mr-glt，項目名稱:FRC-2017-Command，代碼行數:16，代碼來源:RotateDriveTrain.java

示例15: DriveUntil

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
/**
 * Requires gyro, ultrasonic, drive train
 * @param setpoint distance away in inches
 */
public DriveUntil(double setpoint){
    requires(Robot.drivetrain);
    requires(Robot.gyro);
    requires(Robot.ultrasonic);
    pid = new PIDController(0.27, 0, 0, Robot.ultrasonic.getUltrasonic(), new pidOutput());
    pid.setAbsoluteTolerance(2);
    pid.setSetpoint(setpoint);
}
開發者ID:mr-glt，項目名稱:FRC-2017-Command，代碼行數:13，代碼來源:DriveUntil.java


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