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Java PIDController.setOutputRange方法代碼示例

本文整理匯總了Java中edu.wpi.first.wpilibj.PIDController.setOutputRange方法的典型用法代碼示例。如果您正苦於以下問題：Java PIDController.setOutputRange方法的具體用法？Java PIDController.setOutputRange怎麽用？Java PIDController.setOutputRange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.setOutputRange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() {
    // TODO: would be nice to migrate stuff from RobotMap here.

    // m_turnPID is used to improve accuracy during auto-turn operations.
    m_imu = new IMUPIDSource();
    m_turnPID = new PIDController(turnKp, turnKi, turnKd, turnKf,
                                  m_imu,
                                  new PIDOutput() {
                public void pidWrite(double output) {
                    // output is [-1, 1]... we need to
                    // convert this to a speed...
                    Robot.driveTrain.turn(output * MAXIMUM_TURN_SPEED);
                    // robotDrive.tankDrive(-output, output);
                }
            });
    m_turnPID.setOutputRange(-1, 1);
    m_turnPID.setInputRange(-180, 180);
    m_turnPID.setPercentTolerance(2);
    // m_turnPID.setContuous?
}
開發者ID:Spartronics4915，項目名稱:2016-Stronghold，代碼行數:21，代碼來源:DriveTrain.java

示例9: Drivetrain

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
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);
}
開發者ID:Team4761，項目名稱:2016-Robot-Code，代碼行數:25，代碼來源:Drivetrain.java

示例10: Init

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
public void Init()
{
    Logger.PrintLine("Init 1",Logger.LOGGER_MESSAGE_LEVEL_DEBUG);
    
    m_pidController = new PIDController(10,10,10,m_encoderAverager,m_robotDrivePid);
    m_pidController.setOutputRange(-0.8,0.8);
    //m_pidController.setOutputRange(-0.4,0.4);
    Logger.PrintLine("Init 4",Logger.LOGGER_MESSAGE_LEVEL_ERROR);

    m_currentStateIndex = 0;
    SetCurrentState(m_nextStateArray[m_currentStateIndex]);
    m_disabled = false;
    
    m_shootingBall = false;
    m_driving = false;
    m_braking = false;
    m_detectingImage = false;
    m_currentStateIndex = 0;
    m_loadingBall = false;
    m_shooterPullingBack = false;
    
    m_autonomousStartTime = Timer.getFPGATimestamp();
    
    m_robotDrivePid.resetGyro();
}
開發者ID:Dinoyan，項目名稱:FRC-2014-robot-project，代碼行數:26，代碼來源:AutonomousModeHandler.java

示例11: 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12: 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13: 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14: 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15: DriveToRange

import edu.wpi.first.wpilibj.PIDController; //導入方法依賴的package包/類
/**
	 * Constructs the command with the given sensor and range.
	 * @param sensor the Sensor to read.
	 * @param range the target value.
	 */
	public DriveToRange(Ranger sensor, double range) {
		CompetitionRobot.output("Driving to range "+range);
		pid = Subsystems.pid;
		stablizer = new PIDController(0.04,0,0, Subsystems.imu, new PIDTurnInterface());
//		pid = new PIDController(01d,0,0,sensor,new PIDDriveInterface());
		targetRange = range;
//		pid.setOutputRange(-1*SPEED, SPEED);
		pid.setOutputRange(-1*SmartDashboard.getNumber("MaxApproachSpeed"), SmartDashboard.getNumber("MaxApproachSpeed"));
		pid.setInputRange(0, 2.5);
		pid.setPercentTolerance(1.0d);
		pid.setContinuous(false);
		stablizer.setOutputRange(-0.2, 0.2);
		stablizer.setInputRange(0,360);
		stablizer.setPercentTolerance(1.0);
		stablizer.setContinuous(true);
	}
開發者ID:frc-4931，項目名稱:2014-Robot，代碼行數:22，代碼來源:DriveToRange.java


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