private void initSmartDashboard() {
SmartDashboard.putNumber(m_name + " P", m_talon.getP());
SmartDashboard.putNumber(m_name + " I", m_talon.getI());
SmartDashboard.putNumber(m_name + " D", m_talon.getD());
SmartDashboard.putNumber(m_name + " F", m_talon.getF());
SmartDashboard.putNumber(m_name + " I*100", (m_talon.getI()) * 100);
SmartDashboard.putNumber(m_name + " Talon Setpoint", m_setpoint);
SmartDashboard.putNumber(m_name + " Position", m_talon.getPosition());
SmartDashboard.putNumber(m_name + " Tolerance", m_tolerance);
SmartDashboard.putNumber(m_name + " Error", m_talon.getClosedLoopError());
SmartDashboard.putNumber(m_name + " Output", m_talon.get());
SmartDashboard.putBoolean(m_name + " Enabled", m_talon.isControlEnabled());
}
/**
* Set the PID Controller gain parameters. Set the proportional, integral, and differential
* coefficients.
*
* @param p Proportional coefficient
* @param i Integral coefficient
* @param d Differential coefficient
* @param f Feed forward coefficient
*/
public synchronized void setPID(double p, double i, double d, double f) {
m_P = p;
m_I = i;
m_D = d;
m_F = f;
m_talon.setProfile(0);
m_talon.setP(p);
m_talon.setI(i);
m_talon.setD(d);
m_talon.setF(f);
if (m_debugging) {
SmartDashboard.putNumber(m_name + " P", m_talon.getP());
SmartDashboard.putNumber(m_name + " I", m_talon.getI());
SmartDashboard.putNumber(m_name + " D", m_talon.getD());
SmartDashboard.putNumber(m_name + " F", m_talon.getF());
}
}