Package com.revrobotics.spark.config

Class ClosedLoopConfig

java.lang.Object
com.revrobotics.spark.config.BaseConfig
com.revrobotics.spark.config.ClosedLoopConfig
public class ClosedLoopConfig extends BaseConfig

  • Field Details

  • Constructor Details

    • ClosedLoopConfig

      public ClosedLoopConfig()

  • Method Details

    • apply

      public ClosedLoopConfig apply(ClosedLoopConfig config)
      Applies settings from another ClosedLoopConfig to this one, including all of its nested configurations.

      Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

      Parameters:
      config - The ClosedLoopConfig to copy settings from
      Returns:
      The updated ClosedLoopConfig for method chaining

    • apply

      public ClosedLoopConfig apply(SmartMotionConfig config)
      Applies settings from a SmartMotionConfig to this ClosedLoopConfig.

      Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

      Parameters:
      config - The SmartMotionConfig to copy settings from
      Returns:
      The updated ClosedLoopConfig for method chaining

    • apply

      public ClosedLoopConfig apply(MAXMotionConfig config)
      Applies settings from a MAXMotionConfig to this ClosedLoopConfig.

      Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

      Parameters:
      config - The MAXMotionConfig to copy settings from
      Returns:
      The updated ClosedLoopConfig for method chaining

    • pidf

      public ClosedLoopConfig pidf(double p, double i, double d, double ff)
      Set the PIDF gains of the controller. This will set the gains for closed loop slot 0.

      To set the gains for a specific closed loop slot, use pidf(double, double, double, double, ClosedLoopSlot).

      Parameters:
      p - The proportional gain value
      i - The integral gain value
      d - The derivative gain value
      ff - The velocity feedforward value
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • pidf

      public ClosedLoopConfig pidf(double p, double i, double d, double ff, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the PIDF gains of the controller for a specific closed loop slot.
      Parameters:
      p - The proportional gain value
      i - The integral gain value
      d - The derivative gain value
      ff - The velocity feedforward value
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • pid

      public ClosedLoopConfig pid(double p, double i, double d)
      Set the PID gains of the controller. This will set the gains for closed loop slot 0.

      To set the gains for a specific closed loop slot, use pid(double, double, double, ClosedLoopSlot).

      Parameters:
      p - The proportional gain value
      i - The integral gain value
      d - The derivative gain value
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • pid

      public ClosedLoopConfig pid(double p, double i, double d, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the PID gains of the controller for a specific closed loop slot.
      Parameters:
      p - The proportional gain value
      i - The integral gain value
      d - The derivative gain value
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • p

      public ClosedLoopConfig p(double p)
      Set the proportional gain of the controller.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use p(double, ClosedLoopSlot).

      Parameters:
      p - The proportional gain value
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • p

      public ClosedLoopConfig p(double p, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the proportional gain of the controller for a specific closed loop slot.
      Parameters:
      p - The proportional gain value
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • i

      public ClosedLoopConfig i(double i)
      Set the integral gain of the controller.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use i(double, ClosedLoopSlot).

      Parameters:
      i - The integral gain value
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • i

      public ClosedLoopConfig i(double i, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the integral gain of the controller for a specific closed loop slot.
      Parameters:
      i - The integral gain value
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • d

      public ClosedLoopConfig d(double d)
      Set the derivative gain of the controller.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use d(double, ClosedLoopSlot).

      Parameters:
      d - The derivative gain value
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • d

      public ClosedLoopConfig d(double d, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the derivative gain of the controller for a specific closed loop slot.
      Parameters:
      d - The derivative gain value
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • velocityFF

      public ClosedLoopConfig velocityFF(double ff)
      Set the velocity feedforward gain of the controller.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use velocityFF(double, ClosedLoopSlot).

      Parameters:
      ff - The velocity feedforward gain value
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • velocityFF

      public ClosedLoopConfig velocityFF(double ff, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the velocity feedforward gain of the controller for a specific closed loop slot.
      Parameters:
      ff - The velocity feedforward gain value
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • dFilter

      public ClosedLoopConfig dFilter(double dFilter)
      Set the derivative filter of the controller.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use dFilter(double, ClosedLoopSlot).

      Parameters:
      dFilter - The derivative filter value
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • dFilter

      public ClosedLoopConfig dFilter(double dFilter, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the derivative filter of the controller for a specific closed loop slot.
      Parameters:
      dFilter - The derivative filter value
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • iZone

      public ClosedLoopConfig iZone(double iZone)
      Set the integral zone of the controller.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use dFilter(double, ClosedLoopSlot).

      Parameters:
      iZone - The integral zone value
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • iZone

      public ClosedLoopConfig iZone(double iZone, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the integral zone of the controller for a specific closed loop slot.
      Parameters:
      iZone - The integral zone value
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • minOutput

      public ClosedLoopConfig minOutput(double minOutput)
      Set the minimum output of the controller.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use minOutput(double, ClosedLoopSlot).

      Parameters:
      minOutput - The minimum output value in the range [-1, 1]
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • minOutput

      public ClosedLoopConfig minOutput(double minOutput, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the minimum output of the controller for a specific closed loop slot.
      Parameters:
      minOutput - The minimum output value in the range [-1, 1]
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • maxOutput

      public ClosedLoopConfig maxOutput(double maxOutput)
      Set the maximum output of the controller.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use maxOutput(double, ClosedLoopSlot).

      Parameters:
      maxOutput - The maximum output value in the range [-1, 1]
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • maxOutput

      public ClosedLoopConfig maxOutput(double maxOutput, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the maximum output of the controller for a specific closed loop slot.
      Parameters:
      maxOutput - The maximum output value in the range [-1, 1]
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • outputRange

      public ClosedLoopConfig outputRange(double minOutput, double maxOutput)
      Set the output range of the controller.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use outputRange(double, double, ClosedLoopSlot).

      Parameters:
      minOutput - The minimum output value in the range [-1, 1]
      maxOutput - The maximum output value in the range [-1, 1]
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • outputRange

      public ClosedLoopConfig outputRange(double minOutput, double maxOutput, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the output range of the controller for a specific closed loop slot.
      Parameters:
      minOutput - The minimum output value in the range [-1, 1]
      maxOutput - The maximum output value in the range [-1, 1]
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • iMaxAccum

      public ClosedLoopConfig iMaxAccum(double iMaxAccum)
      Set the maximum I accumulator of the controller. This value is used to constrain the I accumulator to help manage integral wind-up.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use iMaxAccum(double, ClosedLoopSlot).

      Parameters:
      iMaxAccum - The max value to constrain the I accumulator to
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • iMaxAccum

      public ClosedLoopConfig iMaxAccum(double iMaxAccum, ClosedLoopConfig.ClosedLoopSlot slot)
      Set the maximum I accumulator of the controller for a specific closed loop slot. This value is used to constrain the I accumulator to help manage integral wind-up.
      Parameters:
      iMaxAccum - The max value to constrain the I accumulator to
      slot - The closed loop slot to set the values for
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • positionWrappingEnabled

      public ClosedLoopConfig positionWrappingEnabled(boolean enabled)
      Enable or disable PID wrapping for position closed loop control.
      Parameters:
      enabled - True to enable position PID wrapping
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • positionWrappingMinInput

      public ClosedLoopConfig positionWrappingMinInput(double minInput)
      Set the minimum input value for PID wrapping with position closed loop control.
      Parameters:
      minInput - The value of min input for the position
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • positionWrappingMaxInput

      public ClosedLoopConfig positionWrappingMaxInput(double maxInput)
      Set the maximum input value for PID wrapping with position closed loop control
      Parameters:
      maxInput - The value of max input for the position
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • positionWrappingInputRange

      public ClosedLoopConfig positionWrappingInputRange(double minInput, double maxInput)
      Set the input range for PID wrapping with position closed loop control
      Parameters:
      minInput - The value of min input for the position
      maxInput - The value of max input for the position
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • feedbackSensor

      public ClosedLoopConfig feedbackSensor(ClosedLoopConfig.FeedbackSensor sensor)
      Set the feedback sensor of the controller. The controller will use this sensor as the source of feedback for its closed loop control.

      The default feedback sensor is assumed to be the primary encoder for either brushless or brushed mode. This can be changed to another feedback sensor for the controller such as an analog sensor, absolute encoder, or alternate/external encoder.

      Parameters:
      sensor - The feedback sensor
      Returns:
      The modified ClosedLoopConfig object for method chaining

    • flatten

      public String flatten()
      Overrides:
      flatten in class BaseConfig