PIDEncoder

class commands1.PIDEncoder(*args, **kwargs)

Bases: commands1._impl._commands_v1.command.PIDSource, wpilib._wpilib.Encoder

Wrapper so that PIDSource is implemented for Encoder for old PIDController

This class is provided by the OldCommands VendorDep

Deprecated

Use frc2::PIDController class instead which doesn’t require this wrapper.

Overloaded function.

1. __init__(self: commands1._impl._commands_v1.command.PIDEncoder, arg0: int, arg1: int, arg2: bool, arg3: wpilib.interfaces._interfaces.CounterBase.EncodingType) -> None

2. __init__(self: commands1._impl._commands_v1.command.PIDEncoder, arg0: wpilib._wpilib.DigitalSource, arg1: wpilib._wpilib.DigitalSource, arg2: bool, arg3: wpilib.interfaces._interfaces.CounterBase.EncodingType) -> None

PIDGet() → float

Get the PIDOutput for the PIDSource base object. Can be set to return distance or rate using SetPIDSourceType(). Defaults to distance.

Returns

The PIDOutput (distance or rate, defaults to distance)