Package frc.team4373.swerve

Class SwerveConfig.PID

  • Enclosing class:
    SwerveConfig
    public static final class SwerveConfig.PID
extends java.lang.Object
    A configuration object containing the gains for a PID controller.

    • Field Summary

      Fields 
      Modifier and Type Field Description
      double kD
      The derivative gain.
      double kF
      The feedforward gain.
      double kI
      The integral gain.
      double kP
      The proportional gain.

    • Constructor Summary

      Constructors 
      Constructor Description
      PID​(double kF, double kP, double kI, double kD)
      Constructs a new PID parameters object.

    • Method Summary

      • Methods inherited from class java.lang.Object

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

    • Field Detail

      • kF

        public final double kF
        The feedforward gain.

      • kP

        public final double kP
        The proportional gain.

      • kI

        public final double kI
        The integral gain.

      • kD

        public final double kD
        The derivative gain.

    • Constructor Detail

      • PID

        public PID​(double kF,
           double kP,
           double kI,
           double kD)
        Constructs a new PID parameters object.
        Parameters:
        kF - feed-forward gain.
        kP - proportional gain.
        kI - integral gain.
        kD - derivative gain.