dev branch after testing, which in turn is merged into
48 | master after it passing complete testing name_package_feature
50 |
51 | dev branch after testing, which in turn is merged into
43 | master after it passing complete testing name_package_feature
45 |
46 | It can move forwards/backwards by giving both its sides an equal speed or 15 | * turn by giving the sides different speeds.
16 | * 17 | * @author Yuval Levy 18 | * @see DashboardedSubsystem 19 | */ 20 | public class TankDrivetrain extends DashboardedSubsystem { 21 | 22 | private static final String DEFAULT_NAMESPACE_NAME = "tank drivetrain"; 23 | 24 | protected final MotorController leftController; 25 | protected final MotorController rightController; 26 | 27 | private final DifferentialDrive drive; 28 | 29 | public TankDrivetrain(String namespaceName, MotorController leftController, MotorController rightController) { 30 | super(namespaceName); 31 | this.leftController = leftController; 32 | this.rightController = rightController; 33 | rightController.setInverted(true); 34 | drive = new DifferentialDrive(leftController, rightController); 35 | drive.setSafetyEnabled(false); 36 | } 37 | 38 | public TankDrivetrain(MotorController leftController, MotorController rightController) { 39 | this(getClassName(DEFAULT_NAMESPACE_NAME), leftController, rightController); 40 | } 41 | 42 | public TankDrivetrain(String namespaceName, MotorController leftMaster, MotorController leftSlave, 43 | MotorController rightMaster, MotorController rightSlave) { 44 | this(namespaceName, new MotorControllerGroup(leftMaster, leftSlave), 45 | new MotorControllerGroup(rightMaster, rightSlave)); 46 | } 47 | 48 | public TankDrivetrain(MotorController leftMaster, MotorController leftSlave, 49 | MotorController rightMaster, MotorController rightSlave) { 50 | this(new MotorControllerGroup(leftMaster, leftSlave), 51 | new MotorControllerGroup(rightMaster, rightSlave)); 52 | } 53 | 54 | /** 55 | * Moves both sides of this drivetrain by the given speeds for each side. 56 | * 57 | * @param leftSpeed the speed to set to the left side (-1 to 1). Positive values move this side forward 58 | * @param rightSpeed the speed to set to the right side (-1 to 1). Positive values move this side forward 59 | */ 60 | public void tankDrive(double leftSpeed, double rightSpeed) { 61 | drive.tankDrive(leftSpeed, rightSpeed, false); 62 | } 63 | 64 | /** 65 | * Moves both sides of this drivetrain by the given speeds for each side. 66 | * 67 | * @param leftSpeed the speed to set to the left side (-1 to 1). Positive values move this side forward 68 | * @param rightSpeed the speed to set to the right side (-1 to 1). Positive values move this side forward 69 | * @param squareInputs whether to square the given inputs before putting them in the speed controllers 70 | */ 71 | public void tankDrive(double leftSpeed, double rightSpeed, boolean squareInputs) { 72 | drive.tankDrive(leftSpeed, rightSpeed, squareInputs); 73 | } 74 | 75 | /** 76 | * Moves both sides of this drivetrain by the given voltages for each side. 77 | * 78 | * @param leftVoltage the voltage to set to the left side (-12 to 12). Positive values move this side forward 79 | * @param rightVoltage the voltage to set to the right side (-12 to 12). Positive values move this side forward 80 | */ 81 | public void tankDriveVoltages(double leftVoltage, double rightVoltage) { 82 | tankDrive(leftVoltage / RobotController.getBatteryVoltage(), 83 | rightVoltage / RobotController.getBatteryVoltage(), false); 84 | } 85 | 86 | /** 87 | * Moves the drivetrain by the given forward and angular speed. 88 | * 89 | * @param moveValue the forward movement speed (-1 to 1) 90 | * @param rotateValue the angular movement speed (-1 to 1). Positive values go clockwise 91 | */ 92 | public void arcadeDrive(double moveValue, double rotateValue) { 93 | drive.arcadeDrive(moveValue, rotateValue, false); 94 | } 95 | 96 | /** 97 | * Moves the drivetrain by the given forward and angular speed. 98 | * 99 | * @param moveValue the forward movement speed (-1 to 1) 100 | * @param rotateValue the angular movement speed (-1 to 1). Positive values go clockwise 101 | * @param squareInputs whether to square the given inputs before putting them in the speed controllers 102 | */ 103 | public void arcadeDrive(double moveValue, double rotateValue, boolean squareInputs) { 104 | drive.arcadeDrive(moveValue, rotateValue, squareInputs); 105 | } 106 | 107 | /** 108 | * Moves the drivetrain by the given forward and angular voltage. 109 | * 110 | * @param moveVoltage the forward movement voltage (-12 to 12) 111 | * @param rotateVoltage the angular movement voltage (-12 to 12). Positive values go clockwise 112 | */ 113 | public void arcadeDriveVoltages(double moveVoltage, double rotateVoltage) { 114 | arcadeDrive(moveVoltage / RobotController.getBatteryVoltage(), 115 | rotateVoltage / RobotController.getBatteryVoltage(), false); 116 | } 117 | 118 | /** 119 | * Moves the drivetrain while rotating it at a given curvature. 120 | * 121 | * @param speed the forward movement speed (-1 to 1) 122 | * @param curvature the curvature of the robot's path (-1 to 1). Positive values go clockwise 123 | */ 124 | public void curvatureDrive(double speed, double curvature) { 125 | drive.curvatureDrive(speed, curvature, true); 126 | } 127 | 128 | /** 129 | * Moves the left side of this drivetrain by a given speed. 130 | * 131 | * @param leftSpeed the speed to set to the left side (-1 to 1). Positive values move this side forward 132 | */ 133 | public void setLeft(double leftSpeed) { 134 | leftController.set(leftSpeed); 135 | } 136 | 137 | /** 138 | * Moves the right side of this drivetrain by a given speed. 139 | * 140 | * @param rightSpeed the speed to set to the right side (-1 to 1). Positive values move this side forward 141 | */ 142 | public void setRight(double rightSpeed) { 143 | rightController.set(rightSpeed); 144 | } 145 | 146 | /** 147 | * Moves the left side of this drivetrain by a given voltage. 148 | * 149 | * @param leftVoltage the voltage to set to the left side (-12 to 12). Positive values move this side forward 150 | */ 151 | public void setLeftVoltage(double leftVoltage) { 152 | setLeft(leftVoltage / RobotController.getBatteryVoltage()); 153 | } 154 | 155 | /** 156 | * Moves the right side of this drivetrain by a given voltage. 157 | * 158 | * @param rightVoltage the voltage to set to the right side (-12 to 12). Positive values move this side forward 159 | */ 160 | public void setRightVoltage(double rightVoltage) { 161 | setRight(rightVoltage / RobotController.getBatteryVoltage()); 162 | } 163 | 164 | /** 165 | * Stops the drivetrain. 166 | */ 167 | public void stop() { 168 | leftController.stopMotor(); 169 | rightController.stopMotor(); 170 | } 171 | 172 | /** 173 | * Sets the motor safety feature of the speed controllers on/off. 174 | * 175 | * @param enabled whether motor safety should be enabled 176 | */ 177 | public void setMotorSafety(boolean enabled) { 178 | drive.setSafetyEnabled(enabled); 179 | } 180 | 181 | /** 182 | * Adds any commands or data from this subsystem to the {@link NetworkTable}s. 183 | */ 184 | @Override 185 | public void configureDashboard() { 186 | } 187 | } 188 | -------------------------------------------------------------------------------- /src/main/java/com/spikes2212/command/drivetrains/commands/DriveArcade.java: -------------------------------------------------------------------------------- 1 | package com.spikes2212.command.drivetrains.commands; 2 | 3 | import com.spikes2212.command.drivetrains.TankDrivetrain; 4 | import edu.wpi.first.wpilibj2.command.Command; 5 | 6 | import java.util.function.Supplier; 7 | 8 | /** 9 | * A command that moves a {@link TankDrivetrain} using linear and rotational speeds. 10 | * 11 | * @author Yuval Levy 12 | * @see TankDrivetrain 13 | */ 14 | 15 | public class DriveArcade extends Command { 16 | 17 | protected final TankDrivetrain tankDrivetrain; 18 | protected final SupplierIf you don't know what yaw is, see here.
74 | * 75 | * @return the yaw 76 | */ 77 | public double getYaw() { 78 | pigeon.getYawPitchRoll(values); 79 | return values[0]; 80 | } 81 | 82 | /** 83 | * @param yaw If you don't know what yaw is, see here. 84 | */ 85 | public void setYaw(double yaw) { 86 | pigeon.setYaw(yaw); 87 | } 88 | } 89 | -------------------------------------------------------------------------------- /src/main/java/com/spikes2212/util/PlaystationControllerWrapper.java: -------------------------------------------------------------------------------- 1 | package com.spikes2212.util; 2 | 3 | import edu.wpi.first.wpilibj.DriverStation; 4 | import edu.wpi.first.wpilibj.Joystick; 5 | import edu.wpi.first.wpilibj.PS4Controller; 6 | import edu.wpi.first.wpilibj2.command.button.JoystickButton; 7 | import edu.wpi.first.wpilibj2.command.button.Trigger; 8 | 9 | /** 10 | * A class that handles the communication between a PS4 controller and the code. 11 | * 12 | * @author Ofri Rosenbaum 13 | */ 14 | public class PlaystationControllerWrapper extends Joystick { 15 | 16 | protected final PS4Controller ps; 17 | 18 | /** 19 | * Constructs a new {@link PS4Controller} using the port of the USB on the {@link DriverStation}. 20 | * 21 | * @param port the port on the {@link DriverStation} that the controller is plugged in 22 | */ 23 | public PlaystationControllerWrapper(int port) { 24 | super(port); 25 | ps = new PS4Controller(port); 26 | } 27 | 28 | public JoystickButton getCrossButton() { 29 | return new JoystickButton(this, PS4Controller.Button.kCross.value); 30 | } 31 | 32 | public JoystickButton getSquareButton() { 33 | return new JoystickButton(this, PS4Controller.Button.kSquare.value); 34 | } 35 | 36 | public JoystickButton getCircleButton() { 37 | return new JoystickButton(this, PS4Controller.Button.kCircle.value); 38 | } 39 | 40 | public JoystickButton getTriangleButton() { 41 | return new JoystickButton(this, PS4Controller.Button.kTriangle.value); 42 | } 43 | 44 | public JoystickButton getOptionsButton() { 45 | return new JoystickButton(this, PS4Controller.Button.kOptions.value); 46 | } 47 | 48 | public JoystickButton getShareButton() { 49 | return new JoystickButton(this, PS4Controller.Button.kShare.value); 50 | } 51 | 52 | public double getR2Axis() { 53 | return ps.getR2Axis(); 54 | } 55 | 56 | public double getL2Axis() { 57 | return ps.getL2Axis(); 58 | } 59 | 60 | public Trigger getR2Button() { 61 | return new Trigger(ps::getR2Button); 62 | } 63 | 64 | public Trigger getL2Button() { 65 | return new Trigger(ps::getL2Button); 66 | } 67 | 68 | public JoystickButton getR1Button() { 69 | return new JoystickButton(this, PS4Controller.Button.kR1.value); 70 | } 71 | 72 | public JoystickButton getL1Button() { 73 | return new JoystickButton(this, PS4Controller.Button.kL1.value); 74 | } 75 | 76 | public JoystickButton getRightStickButton() { 77 | return new JoystickButton(this, PS4Controller.Button.kR3.value); 78 | } 79 | 80 | public JoystickButton getLeftStickButton() { 81 | return new JoystickButton(this, PS4Controller.Button.kL3.value); 82 | } 83 | 84 | public JoystickButton getPlaystationButton() { 85 | return new JoystickButton(this, PS4Controller.Button.kPS.value); 86 | } 87 | 88 | public JoystickButton getTouchpadButton() { 89 | return new JoystickButton(this, PS4Controller.Button.kTouchpad.value); 90 | } 91 | 92 | public double getRightX() { 93 | return ps.getRightX(); 94 | } 95 | 96 | public double getRightY() { 97 | return ps.getRightY(); 98 | } 99 | 100 | public double getLeftX() { 101 | return ps.getLeftX(); 102 | } 103 | 104 | public double getLeftY() { 105 | return ps.getLeftY(); 106 | } 107 | 108 | public Trigger getUpButton() { 109 | return new Trigger(() -> getPOV() == DPAD.UP.value); 110 | } 111 | 112 | public Trigger getDownButton() { 113 | return new Trigger(() -> getPOV() == DPAD.DOWN.value); 114 | } 115 | 116 | public Trigger getLeftButton() { 117 | return new Trigger(() -> getPOV() == DPAD.LEFT.value); 118 | } 119 | 120 | public Trigger getRightButton() { 121 | return new Trigger(() -> getPOV() == DPAD.RIGHT.value); 122 | } 123 | } 124 | -------------------------------------------------------------------------------- /src/main/java/com/spikes2212/util/TalonEncoder.java: -------------------------------------------------------------------------------- 1 | package com.spikes2212.util; 2 | 3 | import com.ctre.phoenix.motorcontrol.FeedbackDevice; 4 | import com.ctre.phoenix.motorcontrol.can.BaseTalon; 5 | import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; 6 | 7 | /** 8 | * This class makes an encoder that is connected to a {@link WPI_TalonSRX} to a PIDSource. 9 | * 10 | * @author Tuval Rivkinind Barlev 11 | */ 12 | public class TalonEncoder { 13 | 14 | protected final BaseTalon talon; 15 | private double distancePerPulse; 16 | 17 | /** 18 | * Constructs the PIDSource using the talon and the number of counts per 19 | * revolution of the motor. 20 | * 21 | * @param talon The talon the encoder is connected to. 22 | * @param distancePerPulse Counts per revolution of the motor. Can be used to change the 23 | * scale of the value of the encoder. 24 | */ 25 | public TalonEncoder(BaseTalon talon, double distancePerPulse) { 26 | talon.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 30); 27 | talon.setSensorPhase(true); 28 | this.talon = talon; 29 | this.distancePerPulse = distancePerPulse; 30 | } 31 | 32 | /** 33 | * Constructs the PIDSource using the talon. The source will return the raw 34 | * value of the encoder. 35 | * 36 | * @param talon The talon the encoder is connected to. 37 | */ 38 | public TalonEncoder(BaseTalon talon) { 39 | this(talon, 1); 40 | } 41 | 42 | /** 43 | * Resets the talon's relative position 44 | */ 45 | public void reset() { 46 | talon.setSelectedSensorPosition(0); 47 | } 48 | 49 | public double getDistancePerPulse() { 50 | return distancePerPulse; 51 | } 52 | 53 | public void setDistancePerPulse(double distancePerPulse) { 54 | this.distancePerPulse = distancePerPulse; 55 | } 56 | 57 | public double getVelocity() { 58 | return talon.getSelectedSensorVelocity() * distancePerPulse; 59 | } 60 | 61 | public double getPosition() { 62 | return talon.getSelectedSensorPosition() * distancePerPulse; 63 | } 64 | } 65 | -------------------------------------------------------------------------------- /src/main/java/com/spikes2212/util/UnifiedControlMode.java: -------------------------------------------------------------------------------- 1 | package com.spikes2212.util; 2 | 3 | import com.ctre.phoenix6.hardware.TalonFX; 4 | import com.ctre.phoenix6.signals.ControlModeValue; 5 | import com.revrobotics.spark.SparkBase; 6 | 7 | /** 8 | * A wrapper for the REV motor controllers and the {@link TalonFX} control modes. 9 | * 10 | * @author Yoel Perman Brilliant 11 | * @see ControlModeValue 12 | * @see SparkBase.ControlType 13 | */ 14 | public enum UnifiedControlMode { 15 | 16 | POSITION(ControlModeValue.PositionDutyCycle, SparkBase.ControlType.kPosition), 17 | VELOCITY(ControlModeValue.VelocityDutyCycle, SparkBase.ControlType.kVelocity), 18 | CURRENT(ControlModeValue.TorqueCurrentFOC, SparkBase.ControlType.kCurrent), 19 | PERCENT_OUTPUT(ControlModeValue.DutyCycleOut, SparkBase.ControlType.kDutyCycle), 20 | TRAPEZOID_PROFILE(ControlModeValue.MotionMagicDutyCycle, SparkBase.ControlType.kMAXMotionPositionControl), 21 | VOLTAGE(ControlModeValue.VoltageOut, SparkBase.ControlType.kVoltage); 22 | 23 | private final ControlModeValue talonFXControlMode; 24 | private final SparkBase.ControlType sparkControlType; 25 | 26 | UnifiedControlMode(ControlModeValue talonFXControlMode, SparkBase.ControlType sparkControlType) { 27 | this.talonFXControlMode = talonFXControlMode; 28 | this.sparkControlType = sparkControlType; 29 | } 30 | 31 | public ControlModeValue getTalonFXControlMode() { 32 | return talonFXControlMode; 33 | } 34 | 35 | public SparkBase.ControlType getSparkControlType() { 36 | return sparkControlType; 37 | } 38 | } 39 | -------------------------------------------------------------------------------- /src/main/java/com/spikes2212/util/XboxControllerWrapper.java: -------------------------------------------------------------------------------- 1 | package com.spikes2212.util; 2 | 3 | import edu.wpi.first.wpilibj.DriverStation; 4 | import edu.wpi.first.wpilibj.Joystick; 5 | import edu.wpi.first.wpilibj.XboxController; 6 | import edu.wpi.first.wpilibj2.command.Command; 7 | import edu.wpi.first.wpilibj2.command.InstantCommand; 8 | import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; 9 | import edu.wpi.first.wpilibj2.command.WaitCommand; 10 | import edu.wpi.first.wpilibj2.command.button.JoystickButton; 11 | import edu.wpi.first.wpilibj2.command.button.Trigger; 12 | 13 | /** 14 | * A class that handles the communication between an Xbox 360 or Xbox One controller and the code. 15 | * 16 | * @author Tal Sitton 17 | */ 18 | public class XboxControllerWrapper extends Joystick { 19 | 20 | protected final XboxController xbox; 21 | 22 | /** 23 | * Constructs a new {@link XboxControllerWrapper} using the port of the USB on the {@link DriverStation}. 24 | * 25 | * @param port the port on the {@link DriverStation} that the controller is plugged in 26 | */ 27 | public XboxControllerWrapper(int port) { 28 | super(port); 29 | xbox = new XboxController(port); 30 | } 31 | 32 | public JoystickButton getAButton() { 33 | return new JoystickButton(this, XboxController.Button.kA.value); 34 | } 35 | 36 | public JoystickButton getXButton() { 37 | return new JoystickButton(this, XboxController.Button.kX.value); 38 | } 39 | 40 | public JoystickButton getBButton() { 41 | return new JoystickButton(this, XboxController.Button.kB.value); 42 | } 43 | 44 | public JoystickButton getYButton() { 45 | return new JoystickButton(this, XboxController.Button.kY.value); 46 | } 47 | 48 | public JoystickButton getButtonStart() { 49 | return new JoystickButton(this, XboxController.Button.kStart.value); 50 | } 51 | 52 | public JoystickButton getButtonBack() { 53 | return new JoystickButton(this, XboxController.Button.kBack.value); 54 | } 55 | 56 | public double getRTAxis() { 57 | return xbox.getRightTriggerAxis(); 58 | } 59 | 60 | public double getLTAxis() { 61 | return xbox.getLeftTriggerAxis(); 62 | } 63 | 64 | public Trigger getRTButton() { 65 | return new Trigger(() -> xbox.getRightTriggerAxis() == 1); 66 | } 67 | 68 | public Trigger getLTButton() { 69 | return new Trigger(() -> xbox.getLeftTriggerAxis() == 1); 70 | } 71 | 72 | public JoystickButton getRBButton() { 73 | return new JoystickButton(this, XboxController.Button.kRightBumper.value); 74 | } 75 | 76 | public JoystickButton getLBButton() { 77 | return new JoystickButton(this, XboxController.Button.kLeftBumper.value); 78 | } 79 | 80 | public JoystickButton getRightStickButton() { 81 | return new JoystickButton(this, XboxController.Button.kRightStick.value); 82 | } 83 | 84 | public JoystickButton getLeftStickButton() { 85 | return new JoystickButton(this, XboxController.Button.kLeftStick.value); 86 | } 87 | 88 | public double getRightX() { 89 | return xbox.getRightX(); 90 | } 91 | 92 | public double getRightY() { 93 | return xbox.getRightY(); 94 | } 95 | 96 | public double getLeftX() { 97 | return xbox.getLeftX(); 98 | } 99 | 100 | public double getLeftY() { 101 | return xbox.getLeftY(); 102 | } 103 | 104 | public Trigger getUpButton() { 105 | return new Trigger(() -> getPOV() == DPAD.UP.value); 106 | } 107 | 108 | public Trigger getDownButton() { 109 | return new Trigger(() -> getPOV() == DPAD.DOWN.value); 110 | } 111 | 112 | public Trigger getLeftButton() { 113 | return new Trigger(() -> getPOV() == DPAD.LEFT.value); 114 | } 115 | 116 | public Trigger getRightButton() { 117 | return new Trigger(() -> getPOV() == DPAD.RIGHT.value); 118 | } 119 | 120 | public Trigger getUpperRightButton() { 121 | return new Trigger(() -> getPOV() == DPAD.UPPER_RIGHT.value); 122 | } 123 | 124 | public Trigger getLowerRightButton() { 125 | return new Trigger(() -> getPOV() == DPAD.LOWER_RIGHT.value); 126 | } 127 | 128 | public Trigger getLowerLeftButton() { 129 | return new Trigger(() -> getPOV() == DPAD.LOWER_LEFT.value); 130 | } 131 | 132 | public Trigger getUpperLeftButton() { 133 | return new Trigger(() -> getPOV() == DPAD.UPPER_LEFT.value); 134 | } 135 | 136 | public void setRumble(double value) { 137 | xbox.setRumble(RumbleType.kLeftRumble, value); 138 | xbox.setRumble(RumbleType.kRightRumble, value); 139 | } 140 | 141 | public void timeRumble(double value, double time) { 142 | Command command = new SequentialCommandGroup( 143 | new InstantCommand(() -> { 144 | setRumble(value); 145 | }), 146 | new WaitCommand(time), 147 | new InstantCommand(() -> { 148 | setRumble(0); 149 | }) 150 | ); 151 | command.schedule(); 152 | } 153 | } 154 | -------------------------------------------------------------------------------- /src/main/java/com/spikes2212/util/smartmotorcontrollers/SmartMotorController.java: -------------------------------------------------------------------------------- 1 | package com.spikes2212.util.smartmotorcontrollers; 2 | 3 | import com.spikes2212.control.FeedForwardSettings; 4 | import com.spikes2212.control.PIDSettings; 5 | import com.spikes2212.control.TrapezoidProfileSettings; 6 | import com.spikes2212.util.UnifiedControlMode; 7 | import edu.wpi.first.wpilibj.motorcontrol.MotorController; 8 | 9 | /** 10 | * A {@link MotorController} that can run control loops. 11 | * 12 | * @author Camellia Lami 13 | */ 14 | public interface SmartMotorController extends MotorController { 15 | 16 | /** 17 | * Configures the loop's PID constants. 18 | */ 19 | void configurePID(PIDSettings pidSettings); 20 | 21 | /** 22 | * Configures the loop's feed forward gains. 23 | */ 24 | void configureFF(FeedForwardSettings feedForwardSettings); 25 | 26 | 27 | /** 28 | * Configures the loop's trapezoid profile settings. 29 | */ 30 | void configureTrapezoid(TrapezoidProfileSettings trapezoidProfileSettings); 31 | 32 | 33 | /** 34 | * Configures the loop's settings. 35 | */ 36 | default void configureLoop(PIDSettings pidSettings, FeedForwardSettings feedForwardSettings, 37 | TrapezoidProfileSettings trapezoidProfileSettings) { 38 | configurePID(pidSettings); 39 | configureFF(feedForwardSettings); 40 | configureTrapezoid(trapezoidProfileSettings); 41 | } 42 | 43 | /** 44 | * Sets the encoder's position. 45 | */ 46 | void setPosition(double position); 47 | 48 | /** 49 | * Resets the encoder's position to 0. 50 | */ 51 | default void resetPosition() { 52 | setPosition(0); 53 | } 54 | 55 | /** 56 | * Updates any control loops running on the drivetrain's motor controllers. 57 | * 58 | * @param controlMode the loop's control mode 59 | * @param setpoint the loop's target 60 | * @param pidSettings the PID constants 61 | * @param feedForwardSettings the feed forward gains 62 | * @param trapezoidProfileSettings the trapezoid profile settings 63 | * @param updatePeriodically whether to update the loop's constants periodically 64 | */ 65 | void pidSet(UnifiedControlMode controlMode, double setpoint, PIDSettings pidSettings, 66 | FeedForwardSettings feedForwardSettings, TrapezoidProfileSettings trapezoidProfileSettings, 67 | boolean updatePeriodically); 68 | 69 | /** 70 | * Updates any control loops running on the drivetrain's motor controllers. 71 | * 72 | * @param controlMode the loop's control mode 73 | * @param setpoint the loop's target 74 | * @param acceleration the desired acceleration 75 | * @param pidSettings the PID constants 76 | * @param feedForwardSettings the feed forward gains 77 | * @param updatePeriodically whether to update the loop's constants periodically 78 | */ 79 | void pidSet(UnifiedControlMode controlMode, double setpoint, double acceleration, PIDSettings pidSettings, 80 | FeedForwardSettings feedForwardSettings, boolean updatePeriodically); 81 | 82 | /** 83 | * Updates any control loops running on the drivetrain's motor controllers. 84 | * 85 | * @param controlMode the loop's control mode 86 | * @param setpoint the loop's target 87 | * @param pidSettings the PID constants 88 | * @param feedForwardSettings the feed forward gains 89 | * @param updatePeriodically whether to update the loop's constants periodically 90 | */ 91 | void pidSet(UnifiedControlMode controlMode, double setpoint, PIDSettings pidSettings, 92 | FeedForwardSettings feedForwardSettings, boolean updatePeriodically); 93 | 94 | /** 95 | * Checks whether the loops are currently on the target setpoints. 96 | * 97 | * @param controlMode the loop's control type 98 | * @param tolerance the maximum difference from the target to still consider the loop to be on target 99 | * @param setpoint the wanted setpoint 100 | * @return {@code true} when on target setpoint, {@code false} otherwise 101 | */ 102 | boolean onTarget(UnifiedControlMode controlMode, double tolerance, double setpoint); 103 | 104 | double getPosition(); 105 | 106 | double getVelocity(); 107 | } 108 | --------------------------------------------------------------------------------