Package frc.robot.swerve

Class TagCenterAlignController

java.lang.Object

frc.robot.swerve.TagCenterAlignController

public class TagCenterAlignController
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
TagCenterAlignController(SwerveConfig config)

Method Summary

Modifier and Type	Method	Description
boolean	atGoal(double current)
boolean	atSetpoint()
double	calculate(double goalMeters, double currentMeters)
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

TagCenterAlignController

public TagCenterAlignController(SwerveConfig config)

Method Details

calculate

public double calculate(double goalMeters,
 double currentMeters)

atGoal

public boolean atGoal(double current)

atSetpoint

public boolean atSetpoint()

updatePID

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