ConfigurePIDCommand.java

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package com.neuronrobotics.sdk.commands.bcs.pid;
 
 
import com.neuronrobotics.sdk.common.BowlerAbstractCommand;
import com.neuronrobotics.sdk.common.BowlerMethod;
import com.neuronrobotics.sdk.pid.PIDConfiguration;
 
// TODO: Auto-generated Javadoc
public class ConfigurePIDCommand extends BowlerAbstractCommand {
    
    public ConfigurePIDCommand(char group) {
        setOpCode("cpid");
        setMethod(BowlerMethod.GET);
        getCallingDataStorage().add(group);
    }
    
    public ConfigurePIDCommand(char group,boolean enabled,boolean inverted,boolean async,double KP,double KI,double KD, double latchValue, boolean use, boolean stop, double up, double low,double hStop) {
        this(new PIDConfiguration(group, enabled,inverted,async,KP,KI,KD, latchValue,use, stop, up,low,hStop));
    }
    
    public ConfigurePIDCommand(PIDConfiguration config) {
        setOpCode("cpid");
        setMethod(BowlerMethod.CRITICAL);
        getCallingDataStorage().add(config.getGroup());
        getCallingDataStorage().add(((config.isEnabled())?1:0));
        getCallingDataStorage().add(((config.isInverted())?1:0));
        getCallingDataStorage().add(((config.isAsync())?1:0));
        getCallingDataStorage().addAs32((int) (config.getKP()*100));
        getCallingDataStorage().addAs32((int) (config.getKI()*100));
        getCallingDataStorage().addAs32((int) (config.getKD()*100));
        getCallingDataStorage().addAs32((int) (config.getIndexLatch()));
        getCallingDataStorage().add(((config.isUseLatch())?1:0));
        getCallingDataStorage().add(((config.isStopOnIndex())?1:0));
    }
 
 
}