Package frc.robot.swerve

Class RotationController

java.lang.Object

frc.robot.swerve.RotationController

public class RotationController
extends Object

Uses a profiled PID Controller to quickly turn the robot to a specified angle. Once the robot is within a certain tolerance of the goal angle, a PID controller is used to hold the robot at that angle.

Constructor Summary

Constructors

Constructor	Description
RotationController(SwerveConfig config)

Method Summary

Modifier and Type	Method	Description
boolean	atGoal(double current)
boolean	atSetpoint()
double	calculate(double goalRadians, double currentRadians)
double	calculate(double goalRadians, double currentRadians, boolean isHoldController)
double	calculateHold(double goalRadians, double currentRadians)
void	reset(double currentRadians)
void	updatePID(double kP, double kI, double kD)

Methods inherited from class java.lang.Object

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

Constructor Details

RotationController

public RotationController(SwerveConfig config)

Method Details

calculate

public double calculate(double goalRadians,
 double currentRadians,
 boolean isHoldController)

calculate

public double calculate(double goalRadians,
 double currentRadians)

calculateHold

public double calculateHold(double goalRadians,
 double currentRadians)

atSetpoint

public boolean atSetpoint()

atGoal

public boolean atGoal(double current)

reset

public void reset(double currentRadians)

updatePID

public void updatePID(double kP,
 double kI,
 double kD)