edu.wpi.first.wpilibj.PIDOutput的实例源码

项目：2016-Stronghold 文件：DriveTrain.java

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?
}

项目：turtleshell 文件：Setdistanceto Box.java

public SetdistancetoBox(double distance) {
    requires(Robot.drivetrain);
    pid = new PIDController(-2,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);
}

项目：turtleshell 文件：DriveStraight.java

public DriveStraight(double distance) {
    requires(Robot.drivetrain);
    pid = new PIDController(4,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);
}

项目：CMonster2014 文件：MecanumDriveAlgorithm.java

/**
 * Creates a new {@link MecanumDriveAlgorithm} that controls the specified
 * {@link FourWheelDriveController}.
 *
 * @param controller the {@link FourWheelDriveController} to control
 * @param gyro the {@link Gyro} to use for orientation correction and
 * field-oriented driving
 */
public MecanumDriveAlgorithm(FourWheelDriveController controller,Gyro gyro) {
    super(controller);
    // Necessary because we hide the controller field inherited from
    // DriveAlgorithm (if this was >=Java 5 I would use generics).
    this.controller = controller;
    this.gyro = gyro;
    rotationPIDController = new PIDController(
            ROTATION_P,ROTATION_I,ROTATION_D,ROTATION_F,gyro,new PIDOutput() {
                public void pidWrite(double output) {
                    rotationSpeedPID = output;
                }
            }
    );
    SmartDashboard.putData("Rotation PID Controller",rotationPIDController);
}

项目：steamworks-java 文件：DrivetoPeg.java

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);
}

项目：Storm2014 文件：BangBangController.java

public BangBangController (PIDOutput pidOutput,PIDSource pidSource,double period){
    _pidSource = pidSource;
    _pidOutput = pidOutput;
    _period = period;
    _setPoint = 0;
    _timer.schedule(new _bgTask(),(long) (1000*_period));
}

项目：Storm2014 文件：TakeBackHalfPlusPlus.java

public TakeBackHalfPlusPlus(PIDOutput pidoutput,PIDSource pidsource,double period,double max,double min){

    _pidSource = pidsource;
    _pidOutput = pidoutput;
    _setPoint = 0;
    _period = period;
    _max = max;
    _min = min;
    _timer.schedule(new _bgTask(),(long) (1000 * _period));
}

项目：649code2014 文件：PIDController649.java

/**
 * Allocate a PID object with the given constants for P,I,D,and F
 *
 * @param Kp the proportional coefficient
 * @param Ki the integral coefficient
 * @param Kd the derivative coefficient
 * @param Kf the Feed forward term
 * @param source The PIDSource object that is used to get values
 * @param output The PIDOutput object that is set to the output percentage
 * @param period the loop time for doing calculations. This particularly
 * effects calculations of the integral and differential terms. The default
 * is 50ms.
 */
public PIDController649(double Kp,double Ki,double Kd,double Kf,PIDSource source,PIDOutput output,double period) {

    if (source == null) {
        throw new NullPointerException("Null PIDSource was given");
    }
    if (output == null) {
        throw new NullPointerException("Null PIDOutput was given");
    }

    m_controlLoop = new java.util.Timer();

    m_P = Kp;
    m_I = Ki;
    m_D = Kd;
    m_F = Kf;

    m_pidInput = source;
    m_pidOutput = output;
    m_period = period;

    m_controlLoop.schedule(new PIDTask(this),0L,(long) (m_period * 1000));

    instances++;
    UsageReporting.report(UsageReporting.kResourceType_PIDController,instances);
    m_tolerance = new NullTolerance();
    m_outputDirection = true;
}

项目：desiree 文件：Tilter.java

private Tilter() {
    leadscrew = new BoundedTalon(Constants.TILTER_CHANNEL,Constants.TILTER_UPPER_LIMIT_SWITCH_CHANNEL,Constants.TILTER_LOWER_LIMIT_SWITCH_CHANNEL);
    accel = new ADXL345_I2C(Constants.ACCELEROMETER_CHANNEL,ADXL345_I2C.DataFormat_Range.k2G);
    accelMeasurements = new Vector();
    updateAccel();        
    pendulum = new AnalogChannel(Constants.PENDULUM_CHANNEL);
    enc = new Encoder(Constants.LEADSCREW_ENCODER_A_CHANNEL,Constants.LEADSCREW_ENCODER_B_CHANNEL);
    enc.setdistancePerpulse(Constants.TILTER_disTANCE_PER_pulse);
    enc.start();
    Thread t = new Thread(new Runnable() {
        public void run() {
            Tilter.net = new NetworkIO();
        }
    });
    t.start();
    controller = new PIDController(Constants.PVAL_T,Constants.IVAL_T,Constants.DVAL_T,enc,new PIDOutput() {
        public void pidWrite(double output) {
            setLeadscrewMotor(output);
        }
    }); 
    controller.setPercentTolerance(0.01);
    controller.disable();
    updatePID();
    initialReadingTimer = new Timer();
    initialReadingTimer.schedule(new TimerTask() {

        public void run() {
            initialLeadLength = calcLeadscrewLength(getAveragedAccelBasedAngle());
        }
    },INITIAL_ANGLE_MEASUREMENT_DELAY);
}

项目：meanlib 文件：RateLimitedPIDOutput.java

public RateLimitedPIDOutput(double rate,PIDOutput output) {
  this.maxRate = rate;
  this.output = output;
}

项目：Robot_2016 文件：DeltaPID.java

public DeltaPID(IMUAdvanced source,PIDOutput output) 
{
    super(velP,velI,velD,source,output);
    prevYaw=RobotMap.imu.getYaw();
}

项目：frc-2016 文件：PIDSpeedController.java

public PIDSpeedController(PIDSource source,String subsystem,String controllerName) {
    controller = new PIDController(0,output);

    LiveWindow.addActuator(subsystem,controllerName,controller);
}

项目：frc-2015 文件：PIDSpeedController.java

public PIDSpeedController(PIDSource source,controller);
}

项目：649code2014 文件：PIDController649.java

/**
 * Read the input,calculate the output accordingly,and write to the
 * output. This should only be called by the PIDTask and is created during
 * initialization.
 */
private void calculate() {
    boolean enabled;
    PIDSource pidInput;

    synchronized (this) {
        if (m_pidInput == null) {
            return;
        }
        if (m_pidOutput == null) {
            return;
        }
        enabled = m_enabled; // take snapshot of these values...
        pidInput = m_pidInput;
    }

    if (enabled) {
        double input;
        input = pidInput.pidGet();

        double result;
        PIDOutput pidOutput = null;

        synchronized (this) {
            m_error = m_setpoint - input;
            if (m_continuous) {
                if (Math.abs(m_error)
                        > (m_maximumInput - m_minimumInput) / 2) {
                    if (m_error > 0) {
                        m_error = m_error - m_maximumInput + m_minimumInput;
                    } else {
                        m_error = m_error
                                + m_maximumInput - m_minimumInput;
                    }
                }
            }

            if (m_I != 0) {
                double potentialIGain = (m_totalError + m_error) * m_I;
                if (potentialIGain < m_maximumOutput) {
                    if (potentialIGain > m_minimumOutput) {
                        m_totalError += m_error;
                    } else {
                        m_totalError = m_minimumOutput / m_I;
                    }
                } else {
                    m_totalError = m_maximumOutput / m_I;
                }
            }
            //******************************************************************************************************************
            if (m_error > 0 && m_prevError < 0 || m_error < 0 && m_prevError > 0) {
                m_totalError = 0;
            }
            //******************************************************************************************************************
            m_result = m_P * m_error + m_I * m_totalError + m_D * (m_error - m_prevError) + m_setpoint * m_F;
            m_errorDiff = m_prevError - m_error;
            m_prevError = m_error;

            if (m_result > m_maximumOutput) {
                m_result = m_maximumOutput;
            } else if (m_result < m_minimumOutput) {
                m_result = m_minimumOutput;
            }
            pidOutput = m_pidOutput;
            result = m_result * (m_outputDirection ? 1 : -1);
        }
        pidOutput.pidWrite(result);
    }
}

项目：CMonster2015 文件：DriveUtils.java

/**
 * Creates a {@link PIDController} from a {@link PIDConstants} object and
 * the specified source and output.
 * 
 * @param constants the PID constants
 * @param source the PID source
 * @param output the PID output
 * @return a shiny new PID controller
 */
public static PIDController createPIDControllerFromConstants(PIDConstants constants,PIDOutput output) {
    return new PIDController(constants.p,constants.i,constants.d,constants.f,output);
}

项目：649code2014 文件：PIDController649.java

/**
 * Allocate a PID object with the given constants for P,D and period
 *
 * @param Kp
 * @param Ki
 * @param Kd
 * @param source
 * @param output
 * @param period
 */
public PIDController649(double Kp,double period) {
    this(Kp,Ki,Kd,0.0,output,period);
}

项目：649code2014 文件：PIDController649.java

/**
 * Allocate a PID object with the given constants for P,using a 50ms
 * period.
 *
 * @param Kp the proportional coefficient
 * @param Ki the integral coefficient
 * @param Kd the derivative coefficient
 * @param source The PIDSource object that is used to get values
 * @param output The PIDOutput object that is set to the output percentage
 */
public PIDController649(double Kp,PIDOutput output) {
    this(Kp,kDefaultPeriod);
}

项目：649code2014 文件：PIDController649.java

/**
 * Allocate a PID object with the given constants for P,Kf,kDefaultPeriod);
}

edu.wpi.first.wpilibj.PIDOutput的实例源码

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