PID.PIDConstants (spartanLib2 API)

java.lang.Object

org.chsrobotics.lib.controllers.PID.PIDConstants

Enclosing class:: PID

public static class PID.PIDConstants extends Object

Data class for holding the gains to a PID controller.

Constructor Summary

Constructors

Constructor

Description

PIDConstants(double kP, double kI, double kD)

Constructs a PIDConstants out of provided gains.
Method Summary

Modifier and Type

Method

Description

boolean

equals(Object other)

double

getkD()

Returns the derivative gain.

double

getkI()

Returns the integral gain.

double

getkP()

Returns the proportional gain.

int

hashCode()

String

toString()

Methods inherited from class java.lang.Object
clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Details
- PIDConstants
  
  public PIDConstants(double kP, double kI, double kD)
  
  Constructs a PIDConstants out of provided gains.
  
  Parameters:
  
  kP - The proportional gain.
  
  kI - The integral gain.
  
  kD - The derivative gain.
Method Details
- getkP
  
  public double getkP()
  
  Returns the proportional gain.
  
  Returns:
  
  The kP of the constants.
- getkI
  
  public double getkI()
  
  Returns the integral gain.
  
  Returns:
  
  The kI of the constants.
- getkD
  
  public double getkD()
  
  Returns the derivative gain.
  
  Returns:
  
  The kD of the constants.
- equals
  
  public boolean equals(Object other)
  
  Overrides:
  
  equals in class Object
- hashCode
  
  public int hashCode()
  
  Overrides:
  
  hashCode in class Object
- toString
  
  public String toString()
  
  Overrides:
  
  toString in class Object