SquIDController

The SquIDController class is like a PID Controller but instead takes the square root.

To use it, you need to find the p value that gives you the best results.

You will use the calculate method to get the output of the controller.

Example

@TeleOp
public class SquidTest extends LinearOpMode {

    @Override
    public void runOpMode() throws InterruptedException {
        SquIDController controller = new SquIDController(0.5);
        waitForStart();
        while (opModeIsActive()) {
            motor.setPower(controller.calculate(setpoint, currentValue));
        }
    }

}

Last modified: 02 April 2025