设定点指令

A Setpoint Command works in conjunction with a PIDSubsystem to drive an actuator to a particular angle or position that is measured using a potentiometer or encoder. This happens so often that there is a shortcut in RobotBuilder to do this task.

从PIDSubsystem开始

假设在机器人中有一个带有电位器的腕关节，该电位器可测量角度。首先，创建一个PIDSubsystem <robotbuilder-writing-pidsubsystem-code>，其中包括用于移动腕关节的电动机和用于测量角度的电位计。 PIDSubsystem应该具有所有PID常数，并且可以正常工作。

设置 “ 公差 ” 参数是很重要的。这可以控制当前值与设定值之间的距离，并且可以将其视为目标。这是SetpointCommand用于移至下一个指令的条件。

创建设定点指令

右键单击面板中的Commands文件夹，然后选择“添加设定点指令”。

设定点指令参数

Fill in the name of the new command. The Requires field is the PIDSubsystem that is being driven to a setpoint, in this case the Elevator subsystem.

1. Click on the Parameter Presets to set up the setpoints.

2. Select Add Preset

3. Enter a preset name (in this case ‘bottom’

4. Click the dropdown next to the setpoint entry box

5. Select the Elevator.Bottom constant, that was created in the Elevator subsystem previously

6. Repeat steps 2-5 for the other setpoints.

7. Click Save and close

There is no need to fill in any code for this command, it is automatically created by RobotBuilder.

每当调度此指令时，它会自动将子系统驱动到指定的设定值。当达到设定值在PIDSubsystem中指定的公差范围内时，该指令结束，下一条指令开始。在PIDSubsystem中，指定公差很重要，否则该指令可能永远不会结束，因为无法达到公差。

备注

有关PID控制的更多信息，请参阅高级控件简介<docs/software/advanced-controls/introduction/index:Advanced Controls Introduction>。