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Added default PID values #8895

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Added default PID values #8895

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60da944
Update PID coefficients in setPID method
siddharth-shah121 May 13, 2026
3f38d22
Update PID coefficients in setPID method
siddharth-shah121 May 13, 2026
1401246
Changed pid to go below
siddharth-shah121 May 13, 2026
0c0c6db
Update ExpansionHubVelocityConstants.java
siddharth-shah121 May 13, 2026
5689072
Set fixed PID values in setPID method
siddharth-shah121 May 13, 2026
68cf7a8
Refactor PID settings in ExpansionHubPositionConstants
siddharth-shah121 May 13, 2026
0301ff7
Refactor ExpansionHubVelocityConstants constructor
siddharth-shah121 May 14, 2026
42af667
Refactor constructor and method formatting
siddharth-shah121 May 14, 2026
023c603
Refactor ExpansionHubVelocityConstants constructor
siddharth-shah121 May 14, 2026
9ea935f
Refactor ExpansionHubVelocityConstants constructor and methods
siddharth-shah121 May 14, 2026
04fd1f4
Set default values for velocity constants publishers
siddharth-shah121 May 14, 2026
cfd9d49
Refactor ExpansionHubVelocityConstants class
siddharth-shah121 May 14, 2026
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53 changes: 34 additions & 19 deletions wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubPositionConstants.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,9 @@

using namespace wpi;

ExpansionHubPositionConstants::ExpansionHubPositionConstants(int hubNumber,
int motorNumber) {
ExpansionHubPositionConstants::ExpansionHubPositionConstants(
int hubNumber, int motorNumber) {

auto systemServer = SystemServer::GetSystemServer();

wpi::nt::PubSubOptions options;
Expand All @@ -20,33 +21,42 @@ ExpansionHubPositionConstants::ExpansionHubPositionConstants(int hubNumber,

m_pPublisher =
systemServer
.GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/kp",
hubNumber, motorNumber))
.GetDoubleTopic(fmt::format(
"/rhsp/{}/motor{}/constants/position/kp",
hubNumber, motorNumber))
.Publish(options);

m_iPublisher =
systemServer
.GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/ki",
hubNumber, motorNumber))
.GetDoubleTopic(fmt::format(
"/rhsp/{}/motor{}/constants/position/ki",
hubNumber, motorNumber))
.Publish(options);

m_dPublisher =
systemServer
.GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/kd",
hubNumber, motorNumber))
.GetDoubleTopic(fmt::format(
"/rhsp/{}/motor{}/constants/position/kd",
hubNumber, motorNumber))
.Publish(options);

// Default PID values
m_pPublisher.SetDefault(1.0);
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@ThadHouse ThadHouse May 14, 2026

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Don't use SetDefault here, just use Set

m_iPublisher.SetDefault(0.0);
m_dPublisher.SetDefault(0.01);

m_sPublisher =
systemServer
.GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/ks",
hubNumber, motorNumber))
.GetDoubleTopic(fmt::format(
"/rhsp/{}/motor{}/constants/position/ks",
hubNumber, motorNumber))
.Publish(options);

m_continuousPublisher =
systemServer
.GetBooleanTopic(
fmt::format("/rhsp/{}/motor{}/constants/position/continuous",
hubNumber, motorNumber))
.GetBooleanTopic(fmt::format(
"/rhsp/{}/motor{}/constants/position/continuous",
hubNumber, motorNumber))
.Publish(options);

m_continuousMinimumPublisher =
Expand All @@ -64,26 +74,31 @@ ExpansionHubPositionConstants::ExpansionHubPositionConstants(int hubNumber,
.Publish(options);
}

ExpansionHubPositionConstants& ExpansionHubPositionConstants::SetPID(double p,
double i,
double d) {
ExpansionHubPositionConstants&
ExpansionHubPositionConstants::SetPID(double p,
double i,
double d) {
m_pPublisher.Set(p);
m_iPublisher.Set(i);
m_dPublisher.Set(d);
return *this;
}

ExpansionHubPositionConstants& ExpansionHubPositionConstants::SetS(double s) {
ExpansionHubPositionConstants&
ExpansionHubPositionConstants::SetS(double s) {
m_sPublisher.Set(s);
return *this;
}

ExpansionHubPositionConstants&
ExpansionHubPositionConstants::EnableContinuousInput(double minimumInput,
double maximumInput) {
ExpansionHubPositionConstants::EnableContinuousInput(
double minimumInput,
double maximumInput) {

m_continuousMaximumPublisher.Set(maximumInput);
m_continuousMinimumPublisher.Set(minimumInput);
m_continuousPublisher.Set(true);

return *this;
}

Expand Down
3 changes: 3 additions & 0 deletions wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubVelocityConstants.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,9 @@ ExpansionHubVelocityConstants::ExpansionHubVelocityConstants(int hubNumber,
.GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/velocity/kd",
hubNumber, motorNumber))
.Publish(options);
m_pPublisher.SetDefault(1.0);
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@ThadHouse ThadHouse May 14, 2026

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Same thing here, use Set

m_iPublisher.SetDefault(0.0);
m_dPublisher.SetDefault(0.01);

m_sPublisher =
systemServer
Expand Down
35 changes: 22 additions & 13 deletions wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubPositionConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@

/** This class contains feedback and feedforward constants for an ExpansionHub motor. */
public class ExpansionHubPositionConstants {

private final DoublePublisher m_pPublisher;
private final DoublePublisher m_iPublisher;
private final DoublePublisher m_dPublisher;
Expand All @@ -23,35 +24,43 @@ public class ExpansionHubPositionConstants {
private final DoublePublisher m_continuousMaximumPublisher;

ExpansionHubPositionConstants(int hubNumber, int motorNumber) {

NetworkTableInstance systemServer = SystemServer.getSystemServer();

PubSubOption[] options =
new PubSubOption[] {
PubSubOption.SEND_ALL, PubSubOption.KEEP_DUPLICATES, PubSubOption.periodic(0.005)
PubSubOption.SEND_ALL,
PubSubOption.KEEP_DUPLICATES,
PubSubOption.periodic(0.005)
};

m_pPublisher =
systemServer
.getDoubleTopic(
"/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position" + "/kp")
"/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position/kp")
.publish(options);

m_iPublisher =
systemServer
.getDoubleTopic(
"/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position" + "/ki")
"/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position/ki")
.publish(options);

m_dPublisher =
systemServer
.getDoubleTopic(
"/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position" + "/kd")
"/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position/kd")
.publish(options);

// Default PID values
m_pPublisher.setDefault(1.0);
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@ThadHouse ThadHouse May 14, 2026

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Same here, use set

m_iPublisher.setDefault(0.0);
m_dPublisher.setDefault(0.01);

m_sPublisher =
systemServer
.getDoubleTopic(
"/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position" + "/ks")
"/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position/ks")
.publish(options);

m_continuousPublisher =
Expand All @@ -61,8 +70,7 @@ public class ExpansionHubPositionConstants {
+ hubNumber
+ "/motor"
+ motorNumber
+ "/constants/position"
+ "/continuous")
+ "/constants/position/continuous")
.publish(options);

m_continuousMinimumPublisher =
Expand All @@ -72,8 +80,7 @@ public class ExpansionHubPositionConstants {
+ hubNumber
+ "/motor"
+ motorNumber
+ "/constants/position"
+ "/continuousMinimum")
+ "/constants/position/continuousMinimum")
.publish(options);

m_continuousMaximumPublisher =
Expand All @@ -83,8 +90,7 @@ public class ExpansionHubPositionConstants {
+ hubNumber
+ "/motor"
+ motorNumber
+ "/constants/position"
+ "/continuousMaximum")
+ "/constants/position/continuousMaximum")
.publish(options);
}

Expand Down Expand Up @@ -123,18 +129,21 @@ public ExpansionHubPositionConstants setS(double s) {
/**
* Enables continuous input.
*
* <p>Rather then using the max and min input range as constraints, it considers them to be the
* same point and automatically calculates the shortest route to the setpoint.
* <p>Rather then using the max and min input range as constraints, it considers
* them to be the same point and automatically calculates the shortest route to
* the setpoint.
*
* @param minimumInput The minimum value expected from the input.
* @param maximumInput The maximum value expected from the input.
* @return This object, for method chaining.
*/
public ExpansionHubPositionConstants enableContinuousInput(
double minimumInput, double maximumInput) {

m_continuousMaximumPublisher.set(maximumInput);
m_continuousMinimumPublisher.set(minimumInput);
m_continuousPublisher.set(true);

return this;
}

Expand Down
3 changes: 3 additions & 0 deletions wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubVelocityConstants.java
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@zachwaffle4 zachwaffle4 May 14, 2026

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where did the rest of this file go

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@siddharth-shah121 siddharth-shah121 May 14, 2026

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alr i think i did it

Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,9 @@ public class ExpansionHubVelocityConstants {
.getDoubleTopic(
"/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/velocity" + "/kd")
.publish(options);
m_pPublisher.set(1);
m_iPublisher.set(0);
m_dPublisher.set(0.01);

m_sPublisher =
systemServer
Expand Down
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