Inheritance diagram for edu.wpi.first.math.controller.PIDController:

Public Member Functions
	PIDController (double kp, double ki, double kd)

	PIDController (double kp, double ki, double kd, double period)

void	setPID (double kp, double ki, double kd)

void	setP (double kp)

void	setI (double ki)

void	setD (double kd)

void	setIZone (double iZone)

double	getP ()

double	getI ()

double	getD ()

double	getIZone ()

double	getPeriod ()

double	getPositionTolerance ()

double	getVelocityTolerance ()

void	setSetpoint (double setpoint)

double	getSetpoint ()

boolean	atSetpoint ()

void	enableContinuousInput (double minimumInput, double maximumInput)

void	disableContinuousInput ()

boolean	isContinuousInputEnabled ()

void	setIntegratorRange (double minimumIntegral, double maximumIntegral)

void	setTolerance (double positionTolerance)

void	setTolerance (double positionTolerance, double velocityTolerance)

double	getPositionError ()

double	getVelocityError ()

double	calculate (double measurement, double setpoint)

double	calculate (double measurement)

void	reset ()

void	initSendable (SendableBuilder builder)

Public Member Functions inherited from edu.wpi.first.util.sendable.Sendable

Detailed Description

Implements a PID control loop.

Constructor & Destructor Documentation

◆ PIDController() [1/2]

edu.wpi.first.math.controller.PIDController.PIDController	(	double	kp,
		double	ki,
		double	kd )

Allocates a PIDController with the given constants for kp, ki, and kd and a default period of 0.02 seconds.

Parameters

kp	The proportional coefficient.
ki	The integral coefficient.
kd	The derivative coefficient.

Exceptions

IllegalArgumentException	if kp < 0
IllegalArgumentException	if ki < 0
IllegalArgumentException	if kd < 0

◆ PIDController() [2/2]

edu.wpi.first.math.controller.PIDController.PIDController	(	double	kp,
		double	ki,
		double	kd,
		double	period )

Allocates a PIDController with the given constants for kp, ki, and kd.

Parameters

kp	The proportional coefficient.
ki	The integral coefficient.
kd	The derivative coefficient.
period	The period between controller updates in seconds.

Exceptions

IllegalArgumentException	if kp < 0
IllegalArgumentException	if ki < 0
IllegalArgumentException	if kd < 0
IllegalArgumentException	if period <= 0

Member Function Documentation

◆ atSetpoint()

boolean edu.wpi.first.math.controller.PIDController.atSetpoint ( )

Returns true if the error is within the tolerance of the setpoint.

This will return false until at least one input value has been computed.

Returns: Whether the error is within the acceptable bounds.

◆ calculate() [1/2]

double edu.wpi.first.math.controller.PIDController.calculate ( double measurement )

Returns the next output of the PID controller.

Parameters

measurement The current measurement of the process variable.

Returns: The next controller output.

◆ calculate() [2/2]

double edu.wpi.first.math.controller.PIDController.calculate	(	double	measurement,
		double	setpoint )

Returns the next output of the PID controller.

Parameters

measurement	The current measurement of the process variable.
setpoint	The new setpoint of the controller.

Returns: The next controller output.

◆ disableContinuousInput()

void edu.wpi.first.math.controller.PIDController.disableContinuousInput ( )

Disables continuous input.

◆ enableContinuousInput()

void edu.wpi.first.math.controller.PIDController.enableContinuousInput	(	double	minimumInput,
		double	maximumInput )

Enables continuous input.

Rather then using the max and min input range as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.

Parameters

minimumInput	The minimum value expected from the input.
maximumInput	The maximum value expected from the input.

◆ getD()

double edu.wpi.first.math.controller.PIDController.getD ( )

Get the Differential coefficient.

Returns: differential coefficient

◆ getI()

double edu.wpi.first.math.controller.PIDController.getI ( )

Get the Integral coefficient.

Returns: integral coefficient

◆ getIZone()

double edu.wpi.first.math.controller.PIDController.getIZone ( )

Get the IZone range.

Returns: Maximum magnitude of error to allow integral control.

◆ getP()

double edu.wpi.first.math.controller.PIDController.getP ( )

Get the Proportional coefficient.

Returns: proportional coefficient

◆ getPeriod()

double edu.wpi.first.math.controller.PIDController.getPeriod ( )

Returns the period of this controller.

Returns: the period of the controller.

◆ getPositionError()

double edu.wpi.first.math.controller.PIDController.getPositionError ( )

Returns the difference between the setpoint and the measurement.

Returns: The error.

◆ getPositionTolerance()

double edu.wpi.first.math.controller.PIDController.getPositionTolerance ( )

Returns the position tolerance of this controller.

Returns: the position tolerance of the controller.

◆ getSetpoint()

double edu.wpi.first.math.controller.PIDController.getSetpoint ( )

Returns the current setpoint of the PIDController.

Returns: The current setpoint.

◆ getVelocityError()

double edu.wpi.first.math.controller.PIDController.getVelocityError ( )

Returns the velocity error.

Returns: The velocity error.

◆ getVelocityTolerance()

double edu.wpi.first.math.controller.PIDController.getVelocityTolerance ( )

Returns the velocity tolerance of this controller.

Returns: the velocity tolerance of the controller.

◆ initSendable()

void edu.wpi.first.math.controller.PIDController.initSendable ( SendableBuilder builder )

Initializes this Sendable object.

Parameters

builder sendable builder

Implements edu.wpi.first.util.sendable.Sendable.

◆ isContinuousInputEnabled()

boolean edu.wpi.first.math.controller.PIDController.isContinuousInputEnabled ( )

Returns true if continuous input is enabled.

Returns: True if continuous input is enabled.

◆ reset()

void edu.wpi.first.math.controller.PIDController.reset ( )

Resets the previous error and the integral term.

◆ setD()

void edu.wpi.first.math.controller.PIDController.setD ( double kd )

Sets the Differential coefficient of the PID controller gain.

Parameters

kd	The differential coefficient. Must be >= 0.

◆ setI()

void edu.wpi.first.math.controller.PIDController.setI ( double ki )

Sets the Integral coefficient of the PID controller gain.

Parameters

ki	The integral coefficient. Must be >= 0.

◆ setIntegratorRange()

void edu.wpi.first.math.controller.PIDController.setIntegratorRange	(	double	minimumIntegral,
		double	maximumIntegral )

Sets the minimum and maximum values for the integrator.

When the cap is reached, the integrator value is added to the controller output rather than the integrator value times the integral gain.

Parameters

minimumIntegral	The minimum value of the integrator.
maximumIntegral	The maximum value of the integrator.

◆ setIZone()

void edu.wpi.first.math.controller.PIDController.setIZone ( double iZone )

Sets the IZone range. When the absolute value of the position error is greater than IZone, the total accumulated error will reset to zero, disabling integral gain until the absolute value of the position error is less than IZone. This is used to prevent integral windup. Must be non-negative. Passing a value of zero will effectively disable integral gain. Passing a value of Double#POSITIVE_INFINITY disables IZone functionality.

Parameters

iZone Maximum magnitude of error to allow integral control.

Exceptions

IllegalArgumentException if iZone < 0

◆ setP()

void edu.wpi.first.math.controller.PIDController.setP ( double kp )

Sets the Proportional coefficient of the PID controller gain.

Parameters

kp	The proportional coefficient. Must be >= 0.

◆ setPID()

void edu.wpi.first.math.controller.PIDController.setPID	(	double	kp,
		double	ki,
		double	kd )

Sets the PID Controller gain parameters.

Set the proportional, integral, and differential coefficients.

Parameters

kp	The proportional coefficient.
ki	The integral coefficient.
kd	The derivative coefficient.

◆ setSetpoint()

void edu.wpi.first.math.controller.PIDController.setSetpoint ( double setpoint )

Sets the setpoint for the PIDController.

Parameters

setpoint The desired setpoint.

◆ setTolerance() [1/2]

void edu.wpi.first.math.controller.PIDController.setTolerance ( double positionTolerance )

Sets the error which is considered tolerable for use with atSetpoint().

Parameters

positionTolerance Position error which is tolerable.

◆ setTolerance() [2/2]

void edu.wpi.first.math.controller.PIDController.setTolerance	(	double	positionTolerance,
		double	velocityTolerance )

Sets the error which is considered tolerable for use with atSetpoint().

Parameters

positionTolerance	Position error which is tolerable.
velocityTolerance	Velocity error which is tolerable.

The documentation for this class was generated from the following file:

D:/SDASVN/2025/RaspberryPi/VSCode/Source/edu/wpi/first/math/controller/PIDController.java

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PIDController() [1/2]

◆ PIDController() [2/2]

Member Function Documentation

◆ atSetpoint()

◆ calculate() [1/2]

◆ calculate() [2/2]

◆ disableContinuousInput()

◆ enableContinuousInput()

◆ getD()

◆ getI()

◆ getIZone()

◆ getP()

◆ getPeriod()

◆ getPositionError()

◆ getPositionTolerance()

◆ getSetpoint()

◆ getVelocityError()

◆ getVelocityTolerance()

◆ initSendable()

◆ isContinuousInputEnabled()

◆ reset()

◆ setD()

◆ setI()

◆ setIntegratorRange()

◆ setIZone()

◆ setP()

◆ setPID()

◆ setSetpoint()

◆ setTolerance() [1/2]

◆ setTolerance() [2/2]