diff options
| -rw-r--r-- | src/org/usfirst/frc/team4272/robotlib/PIDController.java | 44 |
1 files changed, 29 insertions, 15 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDController.java b/src/org/usfirst/frc/team4272/robotlib/PIDController.java index 14c26ce..13f5666 100644 --- a/src/org/usfirst/frc/team4272/robotlib/PIDController.java +++ b/src/org/usfirst/frc/team4272/robotlib/PIDController.java @@ -41,17 +41,14 @@ import edu.wpi.first.wpilibj.SpeedController; /** * An enhanced variant of {@link edu.wpi.first.wpilibj.PIDController wpilibj PIDController} * (implements a PID Control Loop). - * + * <p> * It is enhanced from * {@link edu.wpi.first.wpilibj.PIDController wpilibj PIDController} * in that it that also: - * * <ul> * <li> implements SpeedController (and therefore PIDOutput) - * <li> has auto-enable/disable functionality to avoid "locking" the - * motor when the setpoint is 0. - * - * @author Luke Shumaker <lukeshu@sbcglobal.net> + * <li> disables self if the setpoint is NaN (see {@link PIDNanny}). + * </ul> */ public class PIDController extends edu.wpi.first.wpilibj.PIDController implements SpeedController { private boolean NaNDisabled = false; @@ -86,6 +83,15 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement /** * Convenience constructor with {@code Kf} defaulting to * {@code 0.0}. + * + * @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 + * @param period the loop time for doing calculations. This particularly + * effects calculations of the integral and differential terms. The + * default is 50ms. */ public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, @@ -96,6 +102,13 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement /** * Convenience constructor with {@code period} defaulting to * {@link #kDefaultPeriod}. + * + * @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 */ public PIDController(double Kp, double Ki, double Kd, double Kf, PIDSource source, PIDOutput output) { @@ -106,6 +119,12 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement * Convenience constructor with {@code Kf} defaulting to * {@code 0.0}, and {@code period} defaulting to * {@link #kDefaultPeriod}. + * + * @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 PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output) { @@ -169,15 +188,10 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement } /** - * Don't use this; it is leaking up from - * {@link edu.wpi.first.wpilibj.CANJaguar CANJaguar} through - * {@link edu.wpi.first.wpilibj.SpeedController SpeedController} - * - * @param output - * @param syncGroup - * - * @deprecated Don't use this, it is leaking up from - * {@link edu.wpi.first.wpilibj.CANJaguar CANJaguar} + * Don't use this. + * @deprecated Don't use this; it is leaking up from + * {@link edu.wpi.first.wpilibj.CANJaguar} through + * {@link edu.wpi.first.wpilibj.SpeedController} */ @Override public void set(double output, byte syncGroup) { |