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 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)) 
        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. It prints to the brain by default, and this only does something while the PID Tuner is enabled.

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);  // Does nothing until the PID Tuner is enabled
  
  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);

pid_tuner_add()

Adds a PID to the PID Tuner. This adds to both the default tuner and the full tuner.

new_pid_and_name {"name", &pid.constants}

Prototype

ez::PID lift_pid{20.0, 0.0, 100.0};

void initialize() {
  chassis.pid_tuner_add({"Lift", &lift_pid.constants});
}

Example

void pid_tuner_add(const_and_name new_pid_and_name);

pid_tuner_button_increment_set()

Sets the button to increment the focused PID constant.

increase a pros controller button

Prototype

void initialize() {
  chassis.pid_tuner_button_increment_set(DIGITAL_UP);
}

Example

void pid_tuner_button_increment_set(pros::controller_digital_e_t increase);

pid_tuner_button_decrement_set()

Sets the button to decrement the focused PID constant.

decrease a pros controller button

Prototype

void initialize() {
  chassis.pid_tuner_button_decrement_set(DIGITAL_DOWN);
}

Example

void pid_tuner_button_decrement_set(pros::controller_digital_e_t decrease);

pid_tuner_button_up_set()

Sets the button to move up between the PID constants.

pageUp a pros controller button

Prototype

void initialize() {
  chassis.pid_tuner_button_up_set(DIGITAL_Y);
}

Example

void pid_tuner_button_up_set(pros::controller_digital_e_t pageUp);

pid_tuner_button_down_set()

Sets the button to move down between the PID constants.

pageDown a pros controller button

Prototype

void initialize() {
  chassis.pid_tuner_button_down_set(DIGITAL_A);
}

Example

void pid_tuner_button_down_set(pros::controller_digital_e_t pageDown);

pid_tuner_button_left_set()

Sets the button to go left in the PID Tuner.

pageLeft a pros controller button

Prototype

void initialize() {
  chassis.pid_tuner_button_left_set(DIGITAL_LEFT);
}

Example

void pid_tuner_button_left_set(pros::controller_digital_e_t pageLeft);

pid_tuner_button_right_set()

Sets the button to go right in the PID Tuner.

pageRight a pros controller button

Prototype

void initialize() {
  chassis.pid_tuner_button_right_set(DIGITAL_RIGHT);
}

Example

void pid_tuner_button_right_set(pros::controller_digital_e_t pageRight);

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 1
  chassis.pid_tuner_print_terminal_set(false);
  printf("Printing to Terminal? %i\n", chassis.pid_tuner_print_terminal_enabled());  // Prints 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

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_enable();  // pid_tuner_print_brain_set() only does something while the PID Tuner is enabled
  chassis.pid_tuner_print_brain_set(false);
  printf("Printing to Brain? %i\n", chassis.pid_tuner_print_brain_enabled());  // Prints 0
  chassis.pid_tuner_print_brain_set(true);
  printf("Printing to Brain? %i\n", chassis.pid_tuner_print_brain_enabled());  // Prints 1
  
  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

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_get();

pid_tuner_increment_i_get()

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_get();

pid_tuner_increment_d_get()

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_get();

pid_tuner_increment_start_i_get()

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_get();

pid_tuner_button_increment_get()

Returns the pros button that increments the focused PID constant.

Prototype

chassis.pid_tuner_button_increment_set(DIGITAL_UP);
printf("%i\n", chassis.pid_tuner_button_increment_get()); // Prints DIGITAL_UP

Example

pros::controller_digital_e_t pid_tuner_button_increment_get();

pid_tuner_button_decrement_get()

Returns the pros button that decrements the focused PID constant.

Prototype

chassis.pid_tuner_button_decrement_set(DIGITAL_DOWN);
printf("%i\n", chassis.pid_tuner_button_decrement_get()); // Prints DIGITAL_DOWN

Example

pros::controller_digital_e_t pid_tuner_button_decrement_get();

pid_tuner_button_up_get()

Returns the pros button that moves up between the PID constants.

Prototype

chassis.pid_tuner_button_up_set(DIGITAL_Y);
printf("%i\n", chassis.pid_tuner_button_up_get()); // Prints DIGITAL_Y

Example

pros::controller_digital_e_t pid_tuner_button_up_get();

pid_tuner_button_down_get()

Returns the pros button that moves down between the PID constants.

Prototype

chassis.pid_tuner_button_down_set(DIGITAL_A);
printf("%i\n", chassis.pid_tuner_button_down_get()); // Prints DIGITAL_A

Example

pros::controller_digital_e_t pid_tuner_button_down_get();

pid_tuner_button_left_get()

Returns the pros button that goes left in the PID Tuner.

Prototype

chassis.pid_tuner_button_left_set(DIGITAL_LEFT);
printf("%i\n", chassis.pid_tuner_button_left_get()); // Prints DIGITAL_LEFT

Example

pros::controller_digital_e_t pid_tuner_button_left_get();

pid_tuner_button_right_get()

Returns the pros button that goes right in the PID Tuner.

Prototype

chassis.pid_tuner_button_right_set(DIGITAL_RIGHT);
printf("%i\n", chassis.pid_tuner_button_right_get()); // Prints DIGITAL_RIGHT

Example

pros::controller_digital_e_t pid_tuner_button_right_get();