Package lib.custom.motioncontrollers

Class ezControl

java.lang.Object

lib.custom.motioncontrollers.ezControl

public class ezControl
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
final ezMotion.FeedForward	ff
final edu.wpi.first.math.controller.PIDController	pid

Constructor Summary

Constructors

Constructor	Description
ezControl(double kP, double kI, double kD)
ezControl(double kP, double kI, double kD, ezMotion.FeedForward ff)
ezControl(edu.wpi.first.math.controller.PIDController pid)
ezControl(edu.wpi.first.math.controller.PIDController pid, ezMotion.FeedForward ff)

Method Summary

Modifier and Type	Method	Description
double	calculate(double current, edu.wpi.first.math.trajectory.TrapezoidProfile.State setpoint)
void	reset()

Methods inherited from class java.lang.Object

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

Field Details

pid

public final edu.wpi.first.math.controller.PIDController pid

ff

public final ezMotion.FeedForward ff

Constructor Details

ezControl

public ezControl(double kP,
 double kI,
 double kD)

ezControl

public ezControl(double kP,
 double kI,
 double kD,
 ezMotion.FeedForward ff)

ezControl

public ezControl(edu.wpi.first.math.controller.PIDController pid)

ezControl

public ezControl(edu.wpi.first.math.controller.PIDController pid,
 ezMotion.FeedForward ff)

Method Details

reset

public void reset()

calculate

public double calculate(double current,
 edu.wpi.first.math.trajectory.TrapezoidProfile.State setpoint)