How to use PID Subsystem that we've created?

Technical Java
1

Hey, so I’ve created a class that extends PIDSubsystem that’s set up with an encoder. How would I actually use it? The class is for an elevator so how would I tell it to go up by X encoder ticks?

Code:

public class Elevator extends PIDSubsystem {

public Elevator() {
    super("elevator", 1,1,1,0);
}
@Override
protected double returnPIDInput() {
    return robotMap.enc.get();
}
@Override
protected void usePIDOutput(double output) {
    robotMap.manipulatorA.pidWrite(output);
}
@Override
protected void initDefaultCommand() {

    }
}

Also please tell me if anything is missing from my PIDSubsystem class

Thanks

2

Hard to know what is missing without seeing how you’re actually trying to use the subsystem.

I try to logically group Subsystems into the constituent parts that make up the actual thing. In the case of the Elevator, I would expect to have Encoder objects (unless they are plugged directly into the motor controller), a motor controller (e.g. TalonSRX, Victor, etc), and optionally maybe some limit switches or other physical feedback sensor.

So, by my evaluation, your are missing the actual pieces that make up the subsystem…but perhaps you guys are using a different paradigm for your code.

3