PIDProfile (InfiniteRecharge API)

java.lang.Object
- frc.lib5k.kinematics.PIDProfile

public class PIDProfile
extends java.lang.Object

Used to store PID control data

Field Summary

Fields
Modifier and Type Field Description

double kd

double ki

double kp

Constructor Summary

Constructors
Constructor	Description
`PIDProfile(double kp)`
`PIDProfile(double kp, double ki)`
`PIDProfile(double kp, double ki, double kd)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`static PIDProfile`	`autoConfig(double max_p, double osc_period)`	Generate a PIDProfile using the Zeigler-Nichols tuning method.
`PIDProfile`	`modify(PIDProfile mod)`	Modify the profile

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

- Field Detail
  - kp
```
public double kp
```
  - ki
```
public double ki
```
  - kd
```
public double kd
```
- Constructor Detail
  - PIDProfile
```
public PIDProfile(double kp)
```
  - PIDProfile
```
public PIDProfile(double kp,
                  double ki)
```
  - PIDProfile
```
public PIDProfile(double kp,
                  double ki,
                  double kd)
```
- Method Detail
  - autoConfig
```
public static PIDProfile autoConfig(double max_p,
                                    double osc_period)
```
    Generate a PIDProfile using the Zeigler-Nichols tuning method. More info: https://frc-pdr.readthedocs.io/en/latest/control/pid_control.html#tuning-methods
    
    Parameters:
    
    max_p - Maximum P to cause oscollation in the system
    
    osc_period - Period of oscillation. This must be a full cycle of the system (in whatever unit. Generally, seconds)
    
    Returns:
    
    Generated PIDProfile
  - modify
```
public PIDProfile modify(PIDProfile mod)
```
    Modify the profile
    
    Parameters:
    
    mod - Profile to add
    
    Returns:
    
    This profile