Package frc.robot.swerve

Class TagDistanceAlignController

java.lang.Object

frc.robot.swerve.TagDistanceAlignController

public class TagDistanceAlignController
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
TagDistanceAlignController(SwerveConfig config)

Method Summary

Modifier and Type	Method	Description
boolean	atGoal(double current)
double	calculate(double goalArea, double currentArea)
void	reset(double current)
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

TagDistanceAlignController

public TagDistanceAlignController(SwerveConfig config)

Method Details

calculate

public double calculate(double goalArea,
 double currentArea)

atGoal

public boolean atGoal(double current)

reset

public void reset(double current)

updatePID

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