Metadata-Version: 2.1
Name: wpilib-controller
Version: 0.2
Summary: A backport of the upcoming (in 2020) WPILib PIDController.
Home-page: https://github.com/auscompgeek/robotpy-wpilib-controller
License: BSD-3-Clause
Keywords: frc wpilib robotpy
Author: David Vo
Author-email: david@thedropbears.org.au
Requires-Python: >=3.6
Description-Content-Type: text/markdown
Classifier: Development Status :: 3 - Alpha
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Education
Classifier: License :: OSI Approved :: BSD License
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python :: 3.6
Classifier: Programming Language :: Python :: 3.7
Classifier: Programming Language :: Python :: 3 :: Only
Classifier: Topic :: Scientific/Engineering
Requires-Dist: wpilib >=2018
Requires-Dist: typing-extensions
Provides-Extra: .none

# wpilib-controller

A backport of the upcoming (in 2020) WPILib PIDController.

This is a backport of [wpilibsuite/allwpilib#1300][], which is planned to be
merged for the 2020 season, for [RobotPy][].

@calcmogul has some [in-progress docs][] on this.

Note that if you are moving from the old WPILib PIDController, your PID
constants will need to change, as it did not consider the discretization period:

- divide your Ki gain by 0.05, and
- multiply your Kd gain by 0.05,
- where 0.05 is the original default period (use the period you used otherwise).

[wpilibsuite/allwpilib#1300]: https://github.com/wpilibsuite/allwpilib/pull/1300
[RobotPy]: https://robotpy.github.io
[in-progress docs]: https://docs.google.com/document/d/1M6sCsqxvQtP2qSIYkvfMb-k3sdPfEg9gsKKneY6i-os/view

