Package org.firstinspires.ftc.teamcode

Class AR_PIDController

java.lang.Object

org.firstinspires.ftc.teamcode.AR_PIDController

public class AR_PIDController
extends Object

This class creates a PID Controller to use with each joint. Instantiate this class for each JOINT in the ARM object. Creation Date: 11/3/2024

Constructor Summary

Constructors

Constructor	Description
AR_PIDController(com.qualcomm.robotcore.eventloop.opmode.LinearOpMode iBot, com.qualcomm.robotcore.hardware.DcMotor iMotor, String iJointName, double iP, double iI, double iD, double iF)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	loop(int target, int iCurrentState, int iLastState)	This function takes a target value and moves the joint to that position.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AR_PIDController

public AR_PIDController(com.qualcomm.robotcore.eventloop.opmode.LinearOpMode iBot,
 com.qualcomm.robotcore.hardware.DcMotor iMotor,
 String iJointName,
 double iP,
 double iI,
 double iD,
 double iF)

Constructor. Perform the setup of the PID Controller. // ToDo: We are passing in the PID values here but I still think there needs to be some customizations for our particular usage with double joints, built off of each other.

Parameters:

iBot - Object to OpMode so you can access HardwareMap, etc.

iMotor - Motor object that is being used in the joint.

iJointName - Name of Object to OpMode so you can access HardwareMap, etc.

iP - Passed in p value.

iI - Passed in i value

iD - Passed in d value

iF - Passed in f value

Method Details

loop

public void loop(int target,
 int iCurrentState,
 int iLastState)

This function takes a target value and moves the joint to that position.

Parameters:

target - Value that the joint should move to.

iLastState - The last state of the Arm.