edu.wpi.first.wpilibj.PIDSourceType的实例源码

项目：frc-2016 文件：Shooter.java

public Shooter() {

        shooterLeftSide = new Talon(RobotMap.Pwm.LeftShooterMotor);
        shooterRightSide = new Talon(RobotMap.Pwm.RightShooterMotor);

        encoderLeft = new Encoder(RobotMap.Digital.ShooterLeftChannelA,RobotMap.Digital.ShooterLeftChannelB);
        encoderRight = new Encoder(RobotMap.Digital.ShooterRightChannelA,RobotMap.Digital.ShooterRightChannelB);

        encoderLeft.setPIDSourceType(PIDSourceType.kRate);
        encoderRight.setPIDSourceType(PIDSourceType.kRate);
        encoderLeft.setdistancePerpulse(distancePerpulse);
        encoderRight.setdistancePerpulse(distancePerpulse);

        // leftPID = new PIDSpeedController(encoderLeft,shooterLeftSide,"Shooter","Left Wheel");
        // rightPID = new PIDSpeedController(encoderRight,shooterRightSide,"Right Wheel");

    }

项目：2016-Robot-Code 文件：Drivetrain.java

public Drivetrain() {   
    leftWheelsPIDSource = new EncoderPIDSource(RobotMap.driveEncoderLeft,1.0 / 14.0,PIDSourceType.kdisplacement);
    //rightWheelsPIDSource = new EncoderPIDSource(RobotMap.driveEncoderRight,-1.0 / 14.0,PIDSourceType.kdisplacement);
    rightWheelsPIDSource = new EncoderPIDSource(RobotMap.driveEncoderRight,((-1.0 / 360.0) * 250.0) * (1.0 / 14.0),PIDSourceType.kdisplacement);

    compasspID = new PIDController(0.1,new CompasspIDSource(),new DummyPIDOutput());
    gyroPID = new PIDController(0.01,0.0001,0.00001,new GyroPIDSource(),new DummyPIDOutput());
    leftWheelsPID = new PIDController(0.02,0.0004,leftWheelsPIDSource,new DummyPIDOutput());
    rightWheelsPID = new PIDController(0.02,rightWheelsPIDSource,new DummyPIDOutput());

    compasspID.disable();
    compasspID.setoutputRange(-1.0,1.0); // Set turning speed range
    compasspID.setPercentTolerance(5.0); // Set tolerance of 5%

    gyroPID.disable();
    gyroPID.setoutputRange(-1.0,1.0); // Set turning speed range
    gyroPID.setPercentTolerance(5.0); // Set tolerance of 5%

    leftWheelsPID.disable();
    leftWheelsPID.setoutputRange(-1.0,1.0);

    rightWheelsPID.disable();
    rightWheelsPID.setoutputRange(-1.0,1.0);
}

项目：FRCStronghold2016 文件：CustomGyro.java

/**
 * Initialize the gyro. Calibration is handled by calibrate().
 */
public void initGyro() {
  result = new AccumulatorResult();

  m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
  m_analog.setAverageBits(kAverageBits);
  m_analog.setoversampleBits(kOversampleBits);
  double sampleRate = kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
  AnalogInput.setGlobalSampleRate(sampleRate);
  Timer.delay(0.1);

  setDeadband(0.0);

  setPIDSourceType(PIDSourceType.kdisplacement);

  UsageReporting.report(tResourceType.kResourceType_Gyro,m_analog.getChannel());
  LiveWindow.addSensor("AnalogGyro",m_analog.getChannel(),this);
}

项目：frc-2015 文件：Lift.java

public Lift(int motorChannel,int brakeChannelForward,int brakeChannelReverse,int encoderChannelA,int encoderChannelB,int boundaryLimitChannel,String subsystem) {
    motor = new Talon(motorChannel);
    brake = new DoubleSolenoid(RobotMap.solenoid.Pcm24,brakeChannelForward,brakeChannelReverse);
    encoder = new Encoder(encoderChannelA,encoderChannelB);
    boundaryLimit = new DigitalInput(boundaryLimitChannel);

    LiveWindow.addActuator(subsystem,"Motor",motor);
    LiveWindow.addActuator(subsystem,"Brake",brake);
    LiveWindow.addSensor(subsystem,"Encoder",encoder);
    LiveWindow.addSensor(subsystem,"Boundary Limit Switch",boundaryLimit);

    encoder.setPIDSourceType(PIDSourceType.kRate);
    pid = new PIDSpeedController(encoder,motor,subsystem,"Speed Control");
    subsystemName = subsystem;
}

项目：turtleshell 文件：Setdistanceto Box.java

public SetdistancetoBox(double distance) {
    requires(Robot.drivetrain);
    pid = new PIDController(-2,new PIDSource() {
        PIDSourceType m_sourceType = PIDSourceType.kdisplacement;

        public double pidGet() {
            return Robot.drivetrain.getdistancetoObstacle();
        }

        @Override
        public void setPIDSourceType(PIDSourceType pidSource) {
            m_sourceType = pidSource;
        }

        @Override
        public PIDSourceType getPIDSourceType() {
            return m_sourceType;
        }
    },new PIDOutput() {
        public void pidWrite(double d) {
            Robot.drivetrain.drive(d,d);
        }
    });
    pid.setAbsolutetolerance(0.01);
    pid.setSetpoint(distance);
}

项目：turtleshell 文件：DriveStraight.java

public DriveStraight(double distance) {
    requires(Robot.drivetrain);
    pid = new PIDController(4,new PIDSource() {
                PIDSourceType m_sourceType = PIDSourceType.kdisplacement;

                public double pidGet() {
                    return Robot.drivetrain.getdistance();
                }

                @Override
                public void setPIDSourceType(PIDSourceType pidSource) {
                  m_sourceType = pidSource;
                }

                @Override
                public PIDSourceType getPIDSourceType() {
                    return m_sourceType;
                }
            },new PIDOutput() { public void pidWrite(double d) {
                Robot.drivetrain.drive(d,d);
            }});
    pid.setAbsolutetolerance(0.01);
    pid.setSetpoint(distance);
}

项目：strongback-java 文件：SoftwarePIDControllerTest.java

protected static PIDSource sourceFor(SystemModel model,PIDSourceType initialSourceType) {
    return new PIDSource() {
        private PIDSourceType sourceType = initialSourceType;

        @Override
        public PIDSourceType getPIDSourceType() {
            return sourceType;
        }

        @Override
        public void setPIDSourceType(PIDSourceType pidSource) {
            this.sourceType = pidSource;
        }

        @Override
        public double pidGet() {
            return model.getActualValue();
        }
    };
}

项目：steamworks-java 文件：DrivetoPeg.java

public DrivetoPeg(){        
    double distance = .2;

    requires(Robot.driveBase);
    double kP = -.4;
    double kI = 1;
    double kD = 5;

    pid = new PIDController(kP,kI,kD,new PIDSource() {
        PIDSourceType m_sourceType = PIDSourceType.kdisplacement;

        @Override
        public double pidGet() {
            return Robot.driveBase.getdistanceAhead();
        }

        @Override
        public void setPIDSourceType(PIDSourceType pidSource) {
            m_sourceType = pidSource;
        }

        @Override
        public PIDSourceType getPIDSourceType() {
            return m_sourceType;
        }
    },new PIDOutput() {
        @Override
        public void pidWrite(double d) {
            Robot.driveBase.driveForward(d);
            System.out.println(d);
        }
    });
    pid.setAbsolutetolerance(0.01);
    pid.setSetpoint(distance);
    pid.setoutputRange(0,.35);

    SmartDashboard.putData("drivetoPeg",pid);
}

项目：frc-2016 文件：Drive.java

public Drive() {
    initializeGear();
    // setPIDConstants();
    // leftEncoder.setdistancePerpulse(distancePerpulse);
    // rightEncoder.setdistancePerpulse(distancePerpulse);
    leftEncoder.setPIDSourceType(PIDSourceType.kRate);
    rightEncoder.setPIDSourceType(PIDSourceType.kRate);
}

项目：frc-2016 文件：Aimshooter.java

public Aimshooter() {

        pot = new AnalogInput(RobotMap.Analog.ShooterPotAngle);
        pot.setPIDSourceType(PIDSourceType.kdisplacement);
        motor = new Victor(RobotMap.Pwm.ShooterangleMotor);

        anglePID = new PIDSpeedController(pot,"anglePID","Aimshooter");

        updatePIDConstants();
        anglePID.set(0);
    }

项目：FRCStronghold2016 文件：AHRS.java

/**
 * Returns the current yaw value reported by the sensor.  This
 * yaw value is useful for implementing features including "auto rotate 
 * to a kNown angle".
 * @return The current yaw angle in degrees (-180 to 180).
 */
public double pidGet() {
    if ( pid_source_type == PIDSourceType.kRate ) {
        return getRate();
    } else {
        return getYaw();
    }
}

项目：turtleshell 文件：AHRS.java

/**
 * Returns the current yaw value reported by the sensor.  This
 * yaw value is useful for implementing features including "auto rotate 
 * to a kNown angle".
 * @return The current yaw angle in degrees (-180 to 180).
 */
public double pidGet() {
    if ( pid_source_type == PIDSourceType.kRate ) {
        return getRate();
    } else {
        return getYaw();
    }
}

项目：RA17_RobotCode 文件：FakePIDSource.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) 
{

}

项目：RA17_RobotCode 文件：FakePIDSource.java

@Override
public PIDSourceType getPIDSourceType() 
{
    return PIDSourceType.kdisplacement;
}

项目：STEAMworks 文件：VisionTest.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {
    pidSourceType = pidSource;
}

项目：STEAMworks 文件：VisionTest.java

@Override
public PIDSourceType getPIDSourceType() {
    return pidSourceType;
}

项目：STEAMworks 文件：DriveTrain.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {
    pidSourceType = pidSource;
}

项目：STEAMworks 文件：DriveTrain.java

@Override
public PIDSourceType getPIDSourceType() {
    return pidSourceType;
}

项目：R2017 文件：GyroSource.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {
}

项目：R2017 文件：GyroSource.java

@Override
public PIDSourceType getPIDSourceType() {
    return PIDSourceType.kdisplacement;
}

项目：R2017 文件：VisionAreaSource.java

@Override
public PIDSourceType getPIDSourceType() {
    return PIDSourceType.kdisplacement;
}

项目：R2017 文件：VisionAreaSource.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {}

项目：R2017 文件：VisionOffsetSource.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {}

项目：R2017 文件：VisionOffsetSource.java

@Override
public PIDSourceType getPIDSourceType() {
    return PIDSourceType.kdisplacement;
}

项目：2017-Steamworks 文件：VariablePIDInput.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {
    m_pidSource.setPIDSourceType(pidSource);
}

项目：2017-Steamworks 文件：VariablePIDInput.java

@Override
public PIDSourceType getPIDSourceType() {
    return m_pidSource.getPIDSourceType();
}

项目：2017-Steamworks 文件：VisionCenterPIDSource.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {
    // Todo Auto-generated method stub

}

项目：2017-Steamworks 文件：VisionCenterPIDSource.java

@Override
public PIDSourceType getPIDSourceType() {
    // Todo Auto-generated method stub
    return PIDSourceType.kdisplacement;
}

项目：El-Jefe-2017 文件：Pigeon.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {
    // Todo Auto-generated method stub

}

项目：El-Jefe-2017 文件：Pigeon.java

@Override
public PIDSourceType getPIDSourceType() {
    // Todo Auto-generated method stub
    return PIDSourceType.kdisplacement;
}

项目：El-Jefe-2017 文件：AnalogUltrasonic.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {
}

项目：El-Jefe-2017 文件：AnalogUltrasonic.java

@Override
public PIDSourceType getPIDSourceType() {
    // Todo Auto-generated method stub
    return PIDSourceType.kdisplacement;
}

项目：BBLIB 文件：bbPIDFeedback.java

public void setPIDSourceType(PIDSourceType pidSource)
{
}

项目：BBLIB 文件：bbPIDFeedback.java

public PIDSourceType getPIDSourceType()
{
    return PIDSourceType.kdisplacement;
}

项目：2017SteamBot2 文件：VisiondistanceSource.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {
}

项目：2017SteamBot2 文件：VisiondistanceSource.java

@Override
public PIDSourceType getPIDSourceType() {
    return PIDSourceType.kdisplacement;
}

项目：2017SteamBot2 文件：distanceEncoder.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {
    // Todo Auto-generated method stub

}

项目：2017SteamBot2 文件：distanceEncoder.java

@Override
public PIDSourceType getPIDSourceType() {
    // Todo Auto-generated method stub
    return PIDSourceType.kdisplacement;
}

项目：2017SteamBot2 文件：VisionAngleSource.java

@Override
public void setPIDSourceType(PIDSourceType pidSource) {
}

项目：2017SteamBot2 文件：VisionAngleSource.java

@Override
public PIDSourceType getPIDSourceType() {
    return PIDSourceType.kdisplacement;
}

edu.wpi.first.wpilibj.PIDSourceType的实例源码

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