/*
* Copyright 2013-2015 Cel Skeggs
*
* This file is part of the CCRE, the Common Chicken Runtime Engine.
*
* The CCRE is free software: you can redistribute it and/or modify it under the
* terms of the GNU Lesser General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any
* later version.
*
* The CCRE is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
* A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
* details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with the CCRE. If not, see <http://www.gnu.org/licenses/>.
*/
package org.team1540.pidtest;
import ccre.channel.FloatInput;
import ccre.ctrl.PIDController;
import ccre.frc.FRC;
import ccre.frc.FRCApplication;
import ccre.tuning.TuningContext;
/**
* A test for PID controllers.
*
* @author skeggsc
*/
public class PIDTest implements FRCApplication {
/**
* Set up the robot. For the minimal robot, this only means printing a
* message.
*/
@Override
public void setupRobot() {
TuningContext context = new TuningContext("pid_control").publishSavingEvent();
PIDController controller = new PIDController(FloatInput.zero, FRC.joystick1.axisY(), context.getFloat("P", 1), context.getFloat("I", 0), context.getFloat("D", 0));
controller.send(FRC.talon(1, false, 0));
controller.updateWhen(FRC.duringTele);
}
}