PIDFController

To initialize the PIDFController, you need to provide the following parameters:

• kP: Proportional gain

• kI: Integral gain

• kD: Derivative gain

• kF: Feedforward gain

You can change this at any time after the controller is initialized.

PIDFController(kP, kI, kD, kF)

pidController.calculate(targetPosition, currentPosition)

Example

@TeleOp
public class TestOpMode extends LinearOpMode {

    @Override
    public void runOpMode() throws InterruptedException {
        PIDFController pidController = new PIDFController(0.1, 0.01, 0.1, 0.0);

        telemetry.addData("Status", "Initialized");
        telemetry.update();

        waitForStart();

        while (opModeIsActive()) {
            motor.setPower(pidController.calculate(targetPosition, currentPosition));
        }
    }
}