PIDBase¶

class commands1.PIDBase(*args, **kwargs)¶

Bases: commands1._impl._commands_v1.command.PIDInterface, commands1._impl._commands_v1.command.PIDOutput, wpiutil._wpiutil.Sendable

Class implements a PID Control Loop.

Creates a separate thread which reads the given PIDSource and takes care of the integral calculations, as well as writing the given PIDOutput.

This feedback controller runs in discrete time, so time deltas are not used in the integral and derivative calculations. Therefore, the sample rate affects the controller’s behavior for a given set of PID constants.

This class is provided by the OldCommands VendorDep

Deprecated: All APIs which use this have been deprecated.

Overloaded function.

__init__(self: commands1._impl._commands_v1.command.PIDBase, p: float, i: float, d: float, source: commands1._impl._commands_v1.command.PIDSource, output: commands1._impl._commands_v1.command.PIDOutput) -> None
__init__(self: commands1._impl._commands_v1.command.PIDBase, p: float, i: float, d: float, f: float, source: commands1._impl._commands_v1.command.PIDSource, output: commands1._impl._commands_v1.command.PIDOutput) -> None

get() → float¶

Return the current PID result.

This is always centered on zero and constrained the the max and min outs.

Returns: the latest calculated output

getAvgError() → float¶

getD() → float¶

Get the Differential coefficient.

Returns: differential coefficient

getDeltaSetpoint() → float¶

Returns the change in setpoint over time of the PIDBase.

Returns: the change in setpoint over time

getError() → float¶

Returns the current difference of the input from the setpoint.

Returns: the current error

getF() → float¶

Get the Feed forward coefficient.

Returns: Feed forward coefficient

getI() → float¶

Get the Integral coefficient.

Returns: integral coefficient

getP() → float¶

Get the Proportional coefficient.

Returns: proportional coefficient

getPIDSourceType() → commands1._impl._commands_v1.PIDSourceType¶

Returns the type of input the PID controller is using.

Returns: the PID controller input type

getSetpoint() → float¶

Returns the current setpoint of the PIDBase.

Returns: the current setpoint

initSendable(builder: wpiutil._wpiutil.SendableBuilder) → None¶

onTarget() → bool¶

Return true if the error is within the percentage of the total input range, determined by SetTolerance. This asssumes that the maximum and minimum input were set using SetInput.

Currently this just reports on target as the actual value passes through the setpoint. Ideally it should be based on being within the tolerance for some period of time.

This will return false until at least one input value has been computed.

pidWrite(output: float) → None¶

Passes the output directly to SetSetpoint().

PIDControllers can be nested by passing a PIDController as another PIDController’s output. In that case, the output of the parent controller becomes the input (i.e., the reference) of the child.

It is the caller’s responsibility to put the data into a valid form for SetSetpoint().

reset() → None¶: Reset the previous error, the integral term, and disable the controller.

setAbsoluteTolerance(absTolerance: float) → None¶

Set the absolute error which is considered tolerable for use with OnTarget.

Parameters: absTolerance – error which is tolerable

setContinuous(continuous: bool = True) → None¶

Set the PID controller to consider the input to be continuous,

Rather then using the max and min input range as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.

Parameters: continuous – true turns on continuous, false turns off continuous

setD(d: float) → None¶

Set the Differential coefficient of the PID controller gain.

Parameters: d – differential coefficient

setF(f: float) → None¶

Get the Feed forward coefficient of the PID controller gain.

Parameters: f – Feed forward coefficient

setI(i: float) → None¶

Set the Integral coefficient of the PID controller gain.

Parameters: i – integral coefficient

setInputRange(minimumInput: float, maximumInput: float) → None¶

Sets the maximum and minimum values expected from the input.

Parameters

minimumInput – the minimum value expected from the input
maximumInput – the maximum value expected from the output

setOutputRange(minimumOutput: float, maximumOutput: float) → None¶

Sets the minimum and maximum values to write.

Parameters

minimumOutput – the minimum value to write to the output
maximumOutput – the maximum value to write to the output

setP(p: float) → None¶

Set the Proportional coefficient of the PID controller gain.

Parameters: p – proportional coefficient

setPID(*args, **kwargs)¶

Overloaded function.

setPID(self: commands1._impl._commands_v1.command.PIDBase, p: float, i: float, d: float) -> None

Set the PID Controller gain parameters.

Set the proportional, integral, and differential coefficients.

Parameters

p – Proportional coefficient
i – Integral coefficient
d – Differential coefficient

setPID(self: commands1._impl._commands_v1.command.PIDBase, p: float, i: float, d: float, f: float) -> None

Set the PID Controller gain parameters.

Set the proportional, integral, and differential coefficients.

Parameters

p – Proportional coefficient
i – Integral coefficient
d – Differential coefficient
f – Feed forward coefficient

setPIDSourceType(pidSource: commands1._impl._commands_v1.PIDSourceType) → None¶: Sets what type of input the PID controller will use.

setPercentTolerance(percent: float) → None¶

Set the percentage error which is considered tolerable for use with OnTarget.

Parameters: percent – error which is tolerable

setSetpoint(setpoint: float) → None¶

Set the setpoint for the PIDBase.

Parameters: setpoint – the desired setpoint

setTolerance(percent: float) → None¶

setToleranceBuffer(bufLength: int = 1) → None¶