#include <CANPIDController.h>

Inherited by rev::SparkMaxPIDController [private].

Public Types
enum class	AccelStrategy { kTrapezoidal = 0 , kSCurve = 1 }

enum class	ArbFFUnits { kVoltage = 0 , kPercentOut = 1 }

Public Member Functions
virtual	~CANPIDController ()

virtual REVLibError	SetReference (double value, ControlType ctrl, int pidSlot=0, double arbFeedforward=0, ArbFFUnits arbFFUnits=ArbFFUnits::kVoltage)=0

virtual REVLibError	SetP (double gain, int slotID=0)=0

virtual REVLibError	SetI (double gain, int slotID=0)=0

virtual REVLibError	SetD (double gain, int slotID=0)=0

virtual REVLibError	SetDFilter (double gain, int slotID=0)=0

virtual REVLibError	SetFF (double gain, int slotID=0)=0

virtual REVLibError	SetIZone (double IZone, int slotID=0)=0

virtual REVLibError	SetOutputRange (double min, double max, int slotID=0)=0

virtual double	GetP (int slotID=0) const =0

virtual double	GetI (int slotID=0) const =0

virtual double	GetD (int slotID=0) const =0

virtual double	GetDFilter (int slotID=0) const =0

virtual double	GetFF (int slotID=0) const =0

virtual double	GetIZone (int slotID=0) const =0

virtual double	GetOutputMin (int slotID=0) const =0

virtual double	GetOutputMax (int slotID=0) const =0

virtual REVLibError	SetSmartMotionMaxVelocity (double maxVel, int slotID=0)=0

virtual REVLibError	SetSmartMotionMaxAccel (double maxAccel, int slotID=0)=0

virtual REVLibError	SetSmartMotionMinOutputVelocity (double minVel, int slotID=0)=0

virtual REVLibError	SetSmartMotionAllowedClosedLoopError (double allowedErr, int slotID=0)=0

virtual REVLibError	SetSmartMotionAccelStrategy (AccelStrategy accelStrategy, int slotID=0)=0

virtual double	GetSmartMotionMaxVelocity (int slotID=0) const =0

virtual double	GetSmartMotionMaxAccel (int slotID=0) const =0

virtual double	GetSmartMotionMinOutputVelocity (int slotID=0) const =0

virtual double	GetSmartMotionAllowedClosedLoopError (int slotID=0) const =0

virtual REVLibError	SetIMaxAccum (double iMaxAccum, int slotID=0)=0

virtual double	GetIMaxAccum (int slotID=0) const =0

virtual REVLibError	SetIAccum (double iAccum)=0

virtual double	GetIAccum () const =0

virtual REVLibError	SetFeedbackDevice (const CANSensor &sensor)=0

virtual REVLibError	SetPositionPIDWrappingEnabled (bool enable)=0

virtual REVLibError	SetPositionPIDWrappingMaxInput (double value)=0

virtual REVLibError	SetPositionPIDWrappingMinInput (double value)=0

virtual bool	GetPositionPIDWrappingEnabled () const =0

virtual double	GetPositionPIDWrappingMaxInput () const =0

virtual double	GetPositionPIDWrappingMinInput () const =0

Friends
class	SparkMaxPIDController

Detailed Description

Deprecated:: Use SparkMaxPIDController instead

Member Enumeration Documentation

◆ AccelStrategy

enum class rev::CANPIDController::AccelStrategy

strong

Deprecated:: Use SparkMaxPIDController::AccelStrategy instead

Enumerator
kTrapezoidal
kSCurve

◆ ArbFFUnits

enum class rev::CANPIDController::ArbFFUnits

strong

Deprecated:: Use SparkMaxPIDController::ArbFFUnits instead

Enumerator
kVoltage
kPercentOut

Constructor & Destructor Documentation

◆ ~CANPIDController()

virtual rev::CANPIDController::~CANPIDController ( )

inlinevirtual

Member Function Documentation

◆ SetReference()

virtual REVLibError rev::CANPIDController::SetReference	(	double	value,
		ControlType	ctrl,
		int	pidSlot = `0`,
		double	arbFeedforward = `0`,
		ArbFFUnits	arbFFUnits = `ArbFFUnits::kVoltage`
	)

pure virtual

Set the controller reference value based on the selected control mode.

Parameters

value	The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). The units can be changed for position and velocity by a scale factor using setPositionConversionFactor().
ctrl	Is the control type
pidSlot	for this command
arbFeedforward	A value from -32.0 to 32.0 which is a voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetP()

virtual REVLibError rev::CANPIDController::SetP	(	double	gain,
		int	slotID = `0`
	)

pure virtual

Set the Proportional Gain constant of the PIDF controller on the SPARK MAX. This uses the Set Parameter API and should be used infrequently. The parameter does not presist unless burnFlash() is called. The recommended method to configure this parameter is use to SPARK MAX GUI to tune and save parameters.

Parameters

gain	The proportional gain value, must be positive
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetI()

virtual REVLibError rev::CANPIDController::SetI	(	double	gain,
		int	slotID = `0`
	)

pure virtual

Set the Integral Gain constant of the PIDF controller on the SPARK MAX. This uses the Set Parameter API and should be used infrequently. The parameter does not presist unless burnFlash() is called. The recommended method to configure this parameter is use to SPARK MAX GUI to tune and save parameters.

Parameters

gain	The integral gain value, must be positive
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetD()

virtual REVLibError rev::CANPIDController::SetD	(	double	gain,
		int	slotID = `0`
	)

pure virtual

Set the Derivative Gain constant of the PIDF controller on the SPARK MAX. This uses the Set Parameter API and should be used infrequently. The parameter does not presist unless burnFlash() is called. The recommended method to configure this parameter is use to SPARK MAX GUI to tune and save parameters.

Parameters

gain	The derivative gain value, must be positive
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetDFilter()

virtual REVLibError rev::CANPIDController::SetDFilter	(	double	gain,
		int	slotID = `0`
	)

pure virtual

Set the Derivative Filter constant of the PIDF controller on the SPARK MAX. This uses the Set Parameter API and should be used infrequently. The parameter does not presist unless burnFlash() is called.

Parameters

gain	The derivative filter value, must be a positive number between 0 and 1
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetFF()

virtual REVLibError rev::CANPIDController::SetFF	(	double	gain,
		int	slotID = `0`
	)

pure virtual

Set the Feed-forward Gain constant of the PIDF controller on the SPARK MAX. This uses the Set Parameter API and should be used infrequently. The parameter does not presist unless burnFlash() is called. The recommended method to configure this parameter is use to SPARK MAX GUI to tune and save parameters.

Parameters

gain	The feed-forward gain value
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetIZone()

virtual REVLibError rev::CANPIDController::SetIZone	(	double	IZone,
		int	slotID = `0`
	)

pure virtual

Set the IZone range of the PIDF controller on the SPARK MAX. This value specifies the range the |error| must be within for the integral constant to take effect.

This uses the Set Parameter API and should be used infrequently. The parameter does not presist unless burnFlash() is called. The recommended method to configure this parameter is to use the SPARK MAX GUI to tune and save parameters.

Parameters

gain	The IZone value, must be positive. Set to 0 to disable
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetOutputRange()

virtual REVLibError rev::CANPIDController::SetOutputRange	(	double	min,
		double	max,
		int	slotID = `0`
	)

pure virtual

Set the min amd max output for the closed loop mode.

This uses the Set Parameter API and should be used infrequently. The parameter does not presist unless burnFlash() is called. The recommended method to configure this parameter is to use the SPARK MAX GUI to tune and save parameters.

Parameters

min	Reverse power minimum to allow the controller to output
max	Forward power maximum to allow the controller to output
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ GetP()

virtual double rev::CANPIDController::GetP ( int slotID = 0 ) const

pure virtual

Get the Proportional Gain constant of the PIDF controller on the SPARK MAX.

This uses the Get Parameter API and should be used infrequently. This function uses a non-blocking call and will return a cached value if the parameter is not returned by the timeout. The timeout can be changed by calling SetCANTimeout(int milliseconds)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double P Gain value

Implemented in rev::SparkMaxPIDController.

◆ GetI()

virtual double rev::CANPIDController::GetI ( int slotID = 0 ) const

pure virtual

Get the Integral Gain constant of the PIDF controller on the SPARK MAX.

This uses the Get Parameter API and should be used infrequently. This function uses a non-blocking call and will return a cached value if the parameter is not returned by the timeout. The timeout can be changed by calling SetCANTimeout(int milliseconds)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double I Gain value

Implemented in rev::SparkMaxPIDController.

◆ GetD()

virtual double rev::CANPIDController::GetD ( int slotID = 0 ) const

pure virtual

Get the Derivative Gain constant of the PIDF controller on the SPARK MAX.

This uses the Get Parameter API and should be used infrequently. This function uses a non-blocking call and will return a cached value if the parameter is not returned by the timeout. The timeout can be changed by calling SetCANTimeout(int milliseconds)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double D Gain value

Implemented in rev::SparkMaxPIDController.

◆ GetDFilter()

virtual double rev::CANPIDController::GetDFilter ( int slotID = 0 ) const

pure virtual

Get the Derivative Filter constant of the PIDF controller on the SPARK MAX.

This uses the Get Parameter API and should be used infrequently. This function uses a non-blocking call and will return a cached value if the parameter is not returned by the timeout. The timeout can be changed by calling SetCANTimeout(int milliseconds)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double D Filter value

Implemented in rev::SparkMaxPIDController.

◆ GetFF()

virtual double rev::CANPIDController::GetFF ( int slotID = 0 ) const

pure virtual

Get the Feed-forward Gain constant of the PIDF controller on the SPARK MAX.

This uses the Get Parameter API and should be used infrequently. This function uses a non-blocking call and will return a cached value if the parameter is not returned by the timeout. The timeout can be changed by calling SetCANTimeout(int milliseconds)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double F Gain value

Implemented in rev::SparkMaxPIDController.

◆ GetIZone()

virtual double rev::CANPIDController::GetIZone ( int slotID = 0 ) const

pure virtual

Get the IZone constant of the PIDF controller on the SPARK MAX.

This uses the Get Parameter API and should be used infrequently. This function uses a non-blocking call and will return a cached value if the parameter is not returned by the timeout. The timeout can be changed by calling SetCANTimeout(int milliseconds)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double IZone value

Implemented in rev::SparkMaxPIDController.

◆ GetOutputMin()

virtual double rev::CANPIDController::GetOutputMin ( int slotID = 0 ) const

pure virtual

Get the min output of the PIDF controller on the SPARK MAX.

This uses the Get Parameter API and should be used infrequently. This function uses a non-blocking call and will return a cached value if the parameter is not returned by the timeout. The timeout can be changed by calling SetCANTimeout(int milliseconds)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double min value

Implemented in rev::SparkMaxPIDController.

◆ GetOutputMax()

virtual double rev::CANPIDController::GetOutputMax ( int slotID = 0 ) const

pure virtual

Get the max output of the PIDF controller on the SPARK MAX.

This uses the Get Parameter API and should be used infrequently. This function uses a non-blocking call and will return a cached value if the parameter is not returned by the timeout. The timeout can be changed by calling SetCANTimeout(int milliseconds)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double max value

Implemented in rev::SparkMaxPIDController.

◆ SetSmartMotionMaxVelocity()

virtual REVLibError rev::CANPIDController::SetSmartMotionMaxVelocity	(	double	maxVel,
		int	slotID = `0`
	)

pure virtual

Configure the maximum velocity of the SmartMotion mode. This is the velocity that is reached in the middle of the profile and is what the motor should spend most of its time at

Parameters

maxVel	The maxmimum cruise velocity for the motion profile in RPM
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetSmartMotionMaxAccel()

virtual REVLibError rev::CANPIDController::SetSmartMotionMaxAccel	(	double	maxAccel,
		int	slotID = `0`
	)

pure virtual

Configure the maximum acceleration of the SmartMotion mode. This is the accleration that the motor velocity will increase at until the max velocity is reached

Parameters

maxAccel	The maxmimum acceleration for the motion profile in RPM per second
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetSmartMotionMinOutputVelocity()

virtual REVLibError rev::CANPIDController::SetSmartMotionMinOutputVelocity	(	double	minVel,
		int	slotID = `0`
	)

pure virtual

Configure the mimimum velocity of the SmartMotion mode. Any requested velocities below this value will be set to 0.

Parameters

minVel	The minimum velocity for the motion profile in RPM
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetSmartMotionAllowedClosedLoopError()

virtual REVLibError rev::CANPIDController::SetSmartMotionAllowedClosedLoopError	(	double	allowedErr,
		int	slotID = `0`
	)

pure virtual

Configure the allowed closed loop error of SmartMotion mode. This value is how much deviation from your setpoint is tolerated and is useful in preventing oscillation around your setpoint.

Parameters

allowedErr	The allowed deviation for your setpoint vs actual position in rotations
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetSmartMotionAccelStrategy()

virtual REVLibError rev::CANPIDController::SetSmartMotionAccelStrategy	(	AccelStrategy	accelStrategy,
		int	slotID = `0`
	)

pure virtual

Coming soon. Configure the acceleration strategy used to control acceleration on the motor. The current strategy is trapezoidal motion profiling.

Parameters

accelStrategy	The acceleration strategy to use for the automatically generated motion profile
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ GetSmartMotionMaxVelocity()

virtual double rev::CANPIDController::GetSmartMotionMaxVelocity ( int slotID = 0 ) const

pure virtual

Get the maximum velocity of the SmartMotion mode. This is the velocity that is reached in the middle of the profile and is what the motor should spend most of its time at

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: The maxmimum cruise velocity for the motion profile in RPM

Implemented in rev::SparkMaxPIDController.

◆ GetSmartMotionMaxAccel()

virtual double rev::CANPIDController::GetSmartMotionMaxAccel ( int slotID = 0 ) const

pure virtual

Get the maximum acceleration of the SmartMotion mode. This is the accleration that the motor velocity will increase at until the max velocity is reached

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: The maxmimum acceleration for the motion profile in RPM per second

Implemented in rev::SparkMaxPIDController.

◆ GetSmartMotionMinOutputVelocity()

virtual double rev::CANPIDController::GetSmartMotionMinOutputVelocity ( int slotID = 0 ) const

pure virtual

Get the mimimum velocity of the SmartMotion mode. Any requested velocities below this value will be set to 0.

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: The minimum velocity for the motion profile in RPM

Implemented in rev::SparkMaxPIDController.

◆ GetSmartMotionAllowedClosedLoopError()

virtual double rev::CANPIDController::GetSmartMotionAllowedClosedLoopError ( int slotID = 0 ) const

pure virtual

Get the allowed closed loop error of SmartMotion mode. This value is how much deviation from your setpoint is tolerated and is useful in preventing oscillation around your setpoint.

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: The allowed deviation for your setpoint vs actual position in rotations

Implemented in rev::SparkMaxPIDController.

◆ SetIMaxAccum()

virtual REVLibError rev::CANPIDController::SetIMaxAccum	(	double	iMaxAccum,
		int	slotID = `0`
	)

pure virtual

Configure the maximum I accumulator of the PID controller. This value is used to constrain the I accumulator to help manage integral wind-up

Parameters

iMaxAccum	The max value to contrain the I accumulator to
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ GetIMaxAccum()

virtual double rev::CANPIDController::GetIMaxAccum ( int slotID = 0 ) const

pure virtual

Get the maximum I accumulator of the PID controller. This value is used to constrain the I accumulator to help manage integral wind-up

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: The max value to contrain the I accumulator to

Implemented in rev::SparkMaxPIDController.

◆ SetIAccum()

virtual REVLibError rev::CANPIDController::SetIAccum ( double iAccum )

pure virtual

Set the I accumulator of the PID controller. This is useful when wishing to force a reset on the I accumulator of the PID controller. You can also preset values to see how it will respond to certain I characteristics

To use this function, the controller must be in a closed loop control mode by calling setReference()

Parameters

iAccum The value to set the I accumulator to

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ GetIAccum()

virtual double rev::CANPIDController::GetIAccum ( ) const

pure virtual

Get the I accumulator of the PID controller. This is useful when wishing to see what the I accumulator value is to help with PID tuning

Returns: The value of the I accumulator

Implemented in rev::SparkMaxPIDController.

◆ SetFeedbackDevice()

virtual REVLibError rev::CANPIDController::SetFeedbackDevice ( const CANSensor & sensor )

pure virtual

Set the controller's feedback device.

The default feedback device is assumed to be the integrated encoder. This is used to changed to another feedback device for the controller, such as an analog sensor.

If there is a limited range on the feedback sensor that should be observed by the PIDController, it can be set by calling SetFeedbackSensorRange() on the sensor object.

Parameters

sensor The sensor to be used as a feedback device

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetPositionPIDWrappingEnabled()

virtual REVLibError rev::CANPIDController::SetPositionPIDWrappingEnabled ( bool enable )

pure virtual

Enable or disable PID Wrapping for position closed loop control

Parameters

enable Whether position PID wrapping should be enabled

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetPositionPIDWrappingMaxInput()

virtual REVLibError rev::CANPIDController::SetPositionPIDWrappingMaxInput ( double value )

pure virtual

Set the maximum input value for PID Wrapping with position closed loop control

Parameters

value The maximum input value

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ SetPositionPIDWrappingMinInput()

virtual REVLibError rev::CANPIDController::SetPositionPIDWrappingMinInput ( double value )

pure virtual

Set the minimum input value for PID Wrapping with position closed loop control

Parameters

value The minimum input value

Returns: REVLibError::kOk if successful

Implemented in rev::SparkMaxPIDController.

◆ GetPositionPIDWrappingEnabled()

virtual bool rev::CANPIDController::GetPositionPIDWrappingEnabled ( ) const

pure virtual

Get whether or not PID Wrapping for position closed loop control is enabled

Returns: true if PID Wrapping is enabled

Implemented in rev::SparkMaxPIDController.

◆ GetPositionPIDWrappingMaxInput()

virtual double rev::CANPIDController::GetPositionPIDWrappingMaxInput ( ) const

pure virtual

Get the maximum input value for PID Wrapping with position closed loop control

Returns: the maximum input value

Implemented in rev::SparkMaxPIDController.

◆ GetPositionPIDWrappingMinInput()

virtual double rev::CANPIDController::GetPositionPIDWrappingMinInput ( ) const

pure virtual

Get the minimum input value for PID Wrapping with position closed loop control

Returns: the minimum input value

Implemented in rev::SparkMaxPIDController.

Friends And Related Function Documentation

◆ SparkMaxPIDController

friend class SparkMaxPIDController

friend

The documentation for this class was generated from the following file:

src/main/native/include/rev/CANPIDController.h

Public Types

Public Member Functions

Friends

Detailed Description

Member Enumeration Documentation

◆ AccelStrategy

◆ ArbFFUnits

Constructor & Destructor Documentation

◆ ~CANPIDController()

Member Function Documentation

◆ SetReference()

◆ SetP()

◆ SetI()

◆ SetD()

◆ SetDFilter()

◆ SetFF()

◆ SetIZone()

◆ SetOutputRange()

◆ GetP()

◆ GetI()

◆ GetD()

◆ GetDFilter()

◆ GetFF()

◆ GetIZone()

◆ GetOutputMin()

◆ GetOutputMax()

◆ SetSmartMotionMaxVelocity()

◆ SetSmartMotionMaxAccel()

◆ SetSmartMotionMinOutputVelocity()

◆ SetSmartMotionAllowedClosedLoopError()

◆ SetSmartMotionAccelStrategy()

◆ GetSmartMotionMaxVelocity()

◆ GetSmartMotionMaxAccel()

◆ GetSmartMotionMinOutputVelocity()

◆ GetSmartMotionAllowedClosedLoopError()

◆ SetIMaxAccum()

◆ GetIMaxAccum()

◆ SetIAccum()

◆ GetIAccum()

◆ SetFeedbackDevice()

◆ SetPositionPIDWrappingEnabled()

◆ SetPositionPIDWrappingMaxInput()

◆ SetPositionPIDWrappingMinInput()

◆ GetPositionPIDWrappingEnabled()

◆ GetPositionPIDWrappingMaxInput()

◆ GetPositionPIDWrappingMinInput()

Friends And Related Function Documentation

◆ SparkMaxPIDController