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);

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 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();

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();