package Ġorg . first insp ires . ft c . team code . util . road runner Ċ Ċ import Ġcom . ac mer obot ics . road runner . control . PID Coefficient s Ġas Ġ_ RR PID Coefficient s Ċ import Ġcom . ac mer obot ics . road runner . control . PID F Controller Ċ import Ġcom . ac mer obot ics . road runner . util . Nano Clock Ċ import Ġcom . qual comm . robot core . hardware . PID F Coefficient s Ġas Ġ_ F tc PID F Coefficient s Ċ import Ġcom . qual comm . robot core . hardware . PID Coefficient s Ġas Ġ_ F tc PID Coefficient s Ċ import Ġorg . first insp ires . ft c . team code . util . Dc Motor Character ization Ċ Ċ // ĠGenerate Ġtype aliases , Ġso Ġthese Ġcan Ġbe Ġimported Ġinstead Ġof Ġraw Ġtypes Ġeverywhere Ċ type alias ĠR RP ID Coefficient s Ġ= Ġ_ RR PID Coefficient s Ċ type alias ĠF tc PID F Coefficient s Ġ= Ġ_ F tc PID F Coefficient s Ċ type alias ĠF tc PID Coefficient s Ġ= Ġ_ F tc PID Coefficient s Ċ Ċ data Ġclass ĠPID Coefficient s ( val Ġk P : ĠDouble , Ġval Ġk I : ĠDouble , Ġval Ġk D : ĠDouble ) Ġ{ ĊĠĠĠ Ġconstructor ( k P : ĠInt , Ġk I : ĠInt , Ġk D : ĠInt ) Ġ: Ġthis ( k P . toDouble (), Ġk I . toDouble (), Ġk D . toDouble ()) ĊĠĠĠ Ġconstructor ( pid f : ĠF tc PID F Coefficient s ) Ġ: Ġthis ( pid f . p , Ġpid f . i , Ġpid f . d ) ĊĠĠĠ Ġconstructor ( pid : ĠR RP ID Coefficient s ) Ġ: Ġthis ( pid . k P , Ġpid . k I , Ġpid . k D ) Ċ } Ċ Ċ fun ĠR RP ID Coefficient s ( pid : ĠPID Coefficient s ) Ġ= ĠR RP ID Coefficient s ( pid . k P , Ġpid . k I , Ġpid . k D ) Ċ Ċ data Ġclass ĠPID F Coefficient s ( val Ġk P : ĠDouble , Ġval Ġk I : ĠDouble , Ġval Ġk D : ĠDouble , Ġval Ġk F : ĠDouble ) Ġ{ ĊĠĠĠ Ġconstructor ( pid f : ĠF tc PID F Coefficient s ) Ġ: Ġthis ( pid f . p , Ġpid f . i , Ġpid f . d , Ġpid f . f ) ĊĠĠĠ Ġconstructor ( pid : ĠR RP ID Coefficient s , Ġk F : ĠDouble ) Ġ: Ġthis ( pid . k P , Ġpid . k I , Ġpid . k D , Ġk F ) Ċ } Ċ Ċ fun ĠR RP ID Coefficient s ( pid : ĠPID F Coefficient s ) Ġ= ĠR RP ID Coefficient s ( pid . k P , Ġpid . k I , Ġpid . k D ) Ċ Ċ fun ĠPID F Controller ( pid : ĠR RP ID Coefficient s , Ġcharacter ization : ĠD c Motor Character ization , Ġk F : Ġ( Double ) Ġ-> ĠDouble Ġ= Ġ{ Ġ 0 . 0 Ġ}, Ġclock : ĠN ano Clock Ġ= ĠN ano Clock . system ()) Ġ= ĠPID F Controller ( pid , Ġcharacter ization . k V , Ġcharacter ization . k A , Ġcharacter ization . k Static , Ġk F , Ġclock ) Ċ fun ĠPID F Controller ( pid : ĠPID Coefficient s , Ġcharacter ization : ĠD c Motor Character ization , Ġk F : Ġ( Double ) Ġ-> ĠDouble Ġ= Ġ{ Ġ 0 . 0 Ġ}, Ġclock : ĠN ano Clock Ġ= ĠN ano Clock . system ()) Ġ= ĠPID F Controller ( RR PID Coefficient s ( pid ), Ġcharacter ization . k V , Ġcharacter ization . k A , Ġcharacter ization . k Static , Ġk F , Ġclock ) Ċ