wpilib-controller
A backport of the upcoming (in 2020) WPILib PIDController.
This is a backport of wpilibsuite/allwpilib#1300, which is planned to be merged for the 2020 season, for RobotPy.
@calcmogul has some in-progress docs on this.
Note that if you are moving from the old WPILib PIDController, your PID constants will need to change, as it did not consider the discretization period:
- divide your Ki gain by 0.05, and
- multiply your Kd gain by 0.05,
- where 0.05 is the original default period (use the period you used otherwise).
Installation
For a computer with an internet connection:
pip install wpilib-controller
To install onto an offline roboRIO:
pip download wpilib-controller -d pip_cache # with an internet connection
robotpy-installer install-pip wpilib-controller # connected to your robot
Example
from wpilib_controller import PIDController
controller = PIDController(1, 0, 0)
# setInputRange and setContinuous are now a single method
controller.enableContinuousInput(0, 360)
controller.setSetpoint(180)
# elsewhere...
# assume gyro is a gyro object created prior
output = controller.calculate(gyro.getAngle())
# do something with the output, for example:
motor.set(output)
Major differences
- The PID gains are no longer time dependent.
- This PIDController expects a measurement as a parameter to
calculate()
. - This PIDController runs synchronously in your robot code (as opposed to having it run in a thread). You must call
calculate()
and use its return value.