VEXCode Object Oriented PID

This is a object orinted PID loop that can be applied to drivetrains.

A slightly modified version of this code has been tested and works.

How to use

All classes are in the PID namespace

You Need to call loop() like vex::task pidLoop(PODOBJECT.loop);

---

• PID(double P, double I, double D, motor_group PID_Motor);

Initialize a PID instance with the kP, kI, and kD you want and it takes either a motor_group of motor object

• DrivePID(double P, double I, double D, double turnP, double turnI, double turnD, motor_group left, motor_group right, inertial turnIntertial, double wheelDiameter, int sleep(Optional));

Drive PID is the lateral motion PID set up for turning and forward and backward movement

• enable(); or OBJECT.enabled = true;

Enable the PID(Loop has to be running)

• disable() or OBJECT.enabled = false;

Disable the PID(Will stop PID loop)

• reset() or OBJECT.resetEncoder = true;(PID::PID) or OBJECT.resetSensors = true;(PID::DrivePID)

Disable the PID(Will stop PID loop)

• move(double distance) or OBJECT.desiredValue = true

Set the desired value for the PID loop