1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
|
/**
* Copyright (c) 2012 Precise Path Robotics, Inc
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
package org.usfirst.frc.team4272.robotlib;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.PIDSource;
/**
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
public abstract class FeedForward implements PIDOutput {
private class PIDTrigger implements PIDOutput {
private FeedForward ff;
public PIDTrigger(FeedForward ff) {
this.ff = ff;
}
public void pidWrite(double output) {
ff.update(output);
}
}
private PIDController pid;
private PIDOutput pidOutput;
public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output) {
pidOutput = output;
pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this));
}
public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period) {
pidOutput = output;
pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), period);
}
public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, boolean autodisable) {
pidOutput = output;
pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), autodisable);
}
public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period, boolean autodisable) {
pidOutput = output;
pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), period, autodisable);
}
public PIDController getPID() {
return pid;
}
public void pidWrite(double output) {
pid.setSetpoint(output);
}
public void update(double pidResult) {
if (pid.isEnabled()) {
double ffResult = calculate(pid.getSetpoint());
pidOutput.pidWrite(ffResult+pidResult);
} else {
pidOutput.pidWrite(0);
}
}
public abstract double calculate(double setpoint);
}
|
