Five parameter PIDController constructor method

“The constructor PIDController (int, int, int, AnalogInput, Talon) is undefined in edu.wpi.first.math.controller.PIDController”

What do we need to import so that this method can be defined?

I believe the PIDController constructor only has the option to additionally add a specified controller update period in seconds along with the kp, ki, and kd. Somebody please correct me if I’m wrong though, I’m just going off from what I know and what the docs say.

Looks like you’re trying to use an old, deprecated version of PIDController. That’s moved to the WPILibOldCommands package, but it is disappearing for good next year and you should instead probably read the API docs for the new implementation.


We are searching for an understandable example of implementing Swerve.

We must have found an older implementation.