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Version: 2.x

PID

Constructors​

PID()​

Creates a PID object with constants. Everything past kP has a default starting value, so you can just put kP.

p kP
i kI
d kD
p_start_i i will start when error is within this name a string for the name of the PID

PID(double p, double i = 0, double d = 0, double start_i = 0, std::string name = "");

Functions​

set_constants()​

Sets PID constants.

p kP
i kI
d kD
p_start_i i will start when error is within this

void set_constants(double p, double i = 0, double d = 0, double p_start_i = 0);

set_target()​

Sets PID target.

target the goal position for your subsystem

void set_target(double input);

set_exit_condition()​

Sets the exit condition constants. To disable one of the conditions, set the constants relating to it to 0.

p_small_exit_time time, in ms, before exiting p_small_error
p_small_error small error threshold
p_big_exit_time time, in ms, before exiting p_big_error
p_big_error big error threshold
p_velocity_exit_time time, in ms, for velocity to be 0
p_mA_timeout time, in ms, for is_over_current to be true

void set_exit_condition(int p_small_exit_time, double p_small_error, int p_big_exit_time = 0, double p_big_error = 0, int p_velocity_exit_time = 0, int p_mA_timeout = 0);

set_name()​

A string that prints when exit conditions are met. When you have multiple mechanisms using exit conditions and you're debugging, seeing which exit condition is doing what can be useful.

name a string for the name of the PID

void set_name(std::string name);

compute()​

Computes PID.

current the current sensor value for the subsystem

double compute(double current);

Exit Conditions​

Exit conditions are a series of things that need to happen for you to know your subsystem has arrived at the desired target.

exit_output​

The .exit_condition() function can return any of the following variables depending on what triggered it to exit.

enum exit_output { RUNNING = 1,
                   SMALL_EXIT = 2,
                   BIG_EXIT = 3,
                   VELOCITY_EXIT = 4,
                   mA_EXIT = 5,
                   ERROR_NO_CONSTANTS = 6 };

No Motor​

Exit conditions without a motor will check if the error is small for X amount of time, if error is a little bigger for Y amount of time, or if velocity is 0 for Z amount of time, if you have constants enabled for them in set_exit_condition().

Outputs one of the exit_output states. This exit condition checks small_error, big_error and velocity if they are enabled.

ez::exit_output exit_condition(bool print = false);

One Motor​

Exit conditions with a motor will check if the error is small for X amount of time, if error is a little bigger for Y amount of time, if velocity is 0 for Z amount of time, then they will check if the motor is pulling too many amps for A amount of time, only if you have constants enabled for them in set_exit_condition().

Outputs one of the exit_output states. This exit condition checks small_error, big_error, velocity and mA if they are enabled.

ez::exit_output exit_condition(pros::Motor sensor, bool print = false);

Multiple Motors​

This checks the same thing as one motor, except it will check through multiple motors instead of 1. If any of the motors are pulling too many amps the function will start the timer for mA.

Outputs one of the exit_output states. This exit condition checks small_error, big_error, velocity and mA if they are enabled. When any of the motors trip mA, it returns mA_EXIT.

ez::exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);