PID Tuner

Setter Functions

pid_tuner_enable()

Enables PID Tuner.

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  // Enable PID Tuner
  chassis.pid_tuner_enable();
  
  while (true) {
        
    // Trigger the selected autonomous routine
    if (master.get_digital_new_press(DIGITAL_B)) 
      autonomous();

    chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

void pid_tuner_enable();

pid_tuner_disable()

Disables PID Tuner.

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  // Enable PID Tuner
  chassis.pid_tuner_enable();
  
  while (true) {
        
    // Trigger the selected autonomous routine
    if (master.get_digital_new_press(DIGITAL_B)) 
      autonomous();

    // Disable PID Tuner
    if (master.get_digital_new_press(DIGITAL_X)) 
      chassis.pid_tuner_disable();

    chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

void pid_tuner_disable();

pid_tuner_toggle()

Toggles PID tuner between enabled and disables.

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

void pid_tuner_toggle();

pid_tuner_iterate()

Iterates through controller inputs to modify PID constants.

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

void pid_tuner_iterate();

pid_tuner_print_brain_set()

Toggle for printing the display of the PID Tuner to the brain.

input true prints to brain, false doesn't

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_print_brain_set(true);
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

void pid_tuner_print_brain_set(bool input);

pid_tuner_print_terminal_set()

Toggle for printing the display of the PID Tuner to the terminal.

input true prints to terminal, false doesn't

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_print_terminal_set(true);
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

void pid_tuner_print_terminal_set(bool input);

pid_tuner_increment_p_set()

Sets the value that PID Tuner increments P.

p p will increase by this

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_increment_p_set(0.25);
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

void pid_tuner_increment_p_set(double p);

pid_tuner_increment_i_set()

Sets the value that PID Tuner increments I.

i i will increase by this

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_increment_i_set(0.25);
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

void pid_tuner_increment_i_set(double i);

pid_tuner_increment_d_set()

Sets the value that PID Tuner increments D.

d d will increase by this

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_increment_d_set(1.0);
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

void pid_tuner_increment_d_set(double d);

pid_tuner_increment_start_i_set()

Sets the value that PID Tuner increments Start I.

start_i start i will increase by this

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_increment_start_i_set(5.0);
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

void pid_tuner_increment_start_i_set(double start_i);

Getter Functions

pid_tuner_enabled()

Checks if PID Tuner is enabled.

True is enabled, false is disabled.

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) {
        if (chassis.pid_tuner_enabled())
          chassis.pid_tuner_disable();
        else 
          chassis.pid_tuner_enable();
      }
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

bool pid_tuner_enabled();

pid_tuner_print_terminal_enabled()

Returns true if printing to terminal is enabled.

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_print_terminal_set(true);
  printf("Printing to Terminal? %i\n", chassis.pid_tuner_print_terminal_enabled()); // Prints true
  chassis.pid_tuner_print_terminal_set(false);
  printf("Printing to Terminal? %i\n", chassis.pid_tuner_print_terminal_enabled()); // Prints false
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) {
        if (chassis.pid_tuner_enabled())
          chassis.pid_tuner_toggle();
      }
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

bool pid_tuner_print_terminal_enabled();

pid_tuner_print_brain_enabled()

Returns true if printing to brain is enabled.

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_print_terminal_set(false);
  printf("Printing to Terminal? %i\n", chassis.pid_tuner_print_brain_enabled()); // Prints false
  chassis.pid_tuner_print_terminal_set(true);
  printf("Printing to Terminal? %i\n", chassis.pid_tuner_print_brain_enabled()); // Prints true
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) {
        if (chassis.pid_tuner_enabled())
          chassis.pid_tuner_toggle();
      }
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

bool pid_tuner_print_brain_enabled();

pid_tuner_increment_p_get()

Returns the value that PID Tuner increments P.

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_increment_p_set(0.25);
  printf("%f\n", chassis.pid_tuner_increment_p_get());
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

double pid_tuner_increment_p_set();

pid_tuner_increment_i_set()

Returns the value that PID Tuner increments I.

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_increment_i_set(0.25);
  printf("%f\n", chassis.pid_tuner_increment_i_get());
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

double pid_tuner_increment_i_set();

pid_tuner_increment_d_set()

Returns the value that PID Tuner increments D.

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_increment_d_set(1.0);
  printf("%f\n", chassis.pid_tuner_increment_d_get());
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

double pid_tuner_increment_d_set();

pid_tuner_increment_start_i_set()

Returns the value that PID Tuner increments Start I.

Prototype

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  chassis.pid_tuner_increment_start_i_set(5.0);
  printf("%f\n", chassis.pid_tuner_increment_start_i_get());
  
  while (true) {
    
    // PID Tuner
    // After you find values that you're happy with, you'll have to set them in auton.cpp
    if (!pros::competition::is_connected()) { 
      // Enable / Disable PID Tuner
      if (master.get_digital_new_press(DIGITAL_X)) 
        chassis.pid_tuner_toggle();
        
      // Trigger the selected autonomous routine
      if (master.get_digital_new_press(DIGITAL_B)) 
        autonomous();

      chassis.pid_tuner_iterate(); // Allow PID Tuner to iterate
    } 

    chassis.opcontrol_tank(); // Tank control

    pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Example

double pid_tuner_increment_start_i_set();