PIDSubsystem

class commands2.PIDSubsystem(*arg, **kwargs)[source]

Bases: Subsystem

A subsystem that uses a wpimath.controller.PIDController to control an output. The controller is run synchronously from the subsystem’s periodic() method.

Creates a new PIDSubsystem.

Parameters:

controller – The PIDController to use.
initial_position – The initial setpoint of the subsystem.

disable()[source]: Disables the PID control. Sets output to zero.

enable()[source]: Enables the PID control. Resets the controller.

getController() → PIDController[source]

Returns the PIDController used by the subsystem.

Returns:: The PIDController.

getMeasurement() → float[source]

Returns the measurement of the process variable used by the PIDController.

Returns:: The measurement of the process variable.

getSetpoint() → float[source]

Returns the current setpoint of the subsystem.

Returns:: The current setpoint.

isEnabled() → bool[source]

Returns whether the controller is enabled.

Returns:: Whether the controller is enabled.

periodic()[source]

Executes the PID control logic during each periodic update.

This method is called synchronously from the subsystem’s periodic() method.

setSetpoint(setpoint: float)[source]

Sets the setpoint for the subsystem.

Parameters:: setpoint – The setpoint for the subsystem.

useOutput(output: float, setpoint: float)[source]

Uses the output from the PIDController.

Parameters:

output – The output of the PIDController.
setpoint – The setpoint of the PIDController (for feedforward).