wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/command/PIDCommand.html
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<div class="subTitle">edu.wpi.first.wpilibj.command</div>
<h2 title="Class PIDCommand" class="title">Class PIDCommand</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">edu.wpi.first.wpilibj.command.Command</a></li>
<li>
<ul class="inheritance">
<li>edu.wpi.first.wpilibj.command.PIDCommand</li>
</ul>
</li>
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<dt>All Implemented Interfaces:</dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/NamedSendable.html" title="interface in edu.wpi.first.wpilibj">NamedSendable</a>, <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></dd>
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<pre>public abstract class <span class="typeNameLabel">PIDCommand</span>
extends <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a>
implements <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></pre>
<div class="block">This class defines a <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Command</code></a> which interacts heavily with a PID loop.
<p> It provides some convenience methods to run an internal <a href="../../../../../edu/wpi/first/wpilibj/PIDController.html" title="class in edu.wpi.first.wpilibj"><code>PIDController</code></a> . It will also
start and stop said <a href="../../../../../edu/wpi/first/wpilibj/PIDController.html" title="class in edu.wpi.first.wpilibj"><code>PIDController</code></a> when the <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a> is first initialized and
ended/interrupted. </p></div>
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
<tr>
<th class="colOne" scope="col">Constructor and Description</th>
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<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#PIDCommand-double-double-double-">PIDCommand</a></span>(double p,
double i,
double d)</code>
<div class="block">Instantiates a <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a> that will use the given p, i and d values.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#PIDCommand-double-double-double-double-">PIDCommand</a></span>(double p,
double i,
double d,
double period)</code>
<div class="block">Instantiates a <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a> that will use the given p, i and d values.</div>
</td>
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<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#PIDCommand-java.lang.String-double-double-double-">PIDCommand</a></span>(java.lang.String name,
double p,
double i,
double d)</code>
<div class="block">Instantiates a <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a> that will use the given p, i and d values.</div>
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<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#PIDCommand-java.lang.String-double-double-double-double-">PIDCommand</a></span>(java.lang.String name,
double p,
double i,
double d,
double period)</code>
<div class="block">Instantiates a <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a> that will use the given p, i and d values.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Method and Description</th>
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<td class="colFirst"><code>protected <a href="../../../../../edu/wpi/first/wpilibj/PIDController.html" title="class in edu.wpi.first.wpilibj">PIDController</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#getPIDController--">getPIDController</a></span>()</code>
<div class="block">Returns the <a href="../../../../../edu/wpi/first/wpilibj/PIDController.html" title="class in edu.wpi.first.wpilibj"><code>PIDController</code></a> used by this <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a>.</div>
</td>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code>protected double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#getPosition--">getPosition</a></span>()</code>
<div class="block">Returns the current position.</div>
</td>
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<tr id="i2" class="altColor">
<td class="colFirst"><code>protected double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#getSetpoint--">getSetpoint</a></span>()</code>
<div class="block">Returns the setpoint.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#getSmartDashboardType--">getSmartDashboardType</a></span>()</code>
<div class="block">The string representation of the named data type that will be used by the smart dashboard for
this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</div>
</td>
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<tr id="i4" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></span>(<a href="../../../../../edu/wpi/first/networktables/NetworkTable.html" title="class in edu.wpi.first.networktables">NetworkTable</a> table)</code>
<div class="block">Initializes a table for this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a> object.</div>
</td>
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<td class="colFirst"><code>protected abstract double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#returnPIDInput--">returnPIDInput</a></span>()</code>
<div class="block">Returns the input for the pid loop.</div>
</td>
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<tr id="i6" class="altColor">
<td class="colFirst"><code>protected void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#setInputRange-double-double-">setInputRange</a></span>(double minimumInput,
double maximumInput)</code>
<div class="block">Sets the maximum and minimum values expected from the input and setpoint.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>protected void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#setSetpoint-double-">setSetpoint</a></span>(double setpoint)</code>
<div class="block">Sets the setpoint to the given value.</div>
</td>
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<tr id="i8" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#setSetpointRelative-double-">setSetpointRelative</a></span>(double deltaSetpoint)</code>
<div class="block">Adds the given value to the setpoint.</div>
</td>
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<tr id="i9" class="rowColor">
<td class="colFirst"><code>protected abstract void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#usePIDOutput-double-">usePIDOutput</a></span>(double output)</code>
<div class="block">Uses the value that the pid loop calculated.</div>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.command.<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a></h3>
<code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#cancel--">cancel</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#clearRequirements--">clearRequirements</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#doesRequire-edu.wpi.first.wpilibj.command.Subsystem-">doesRequire</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#end--">end</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#execute--">execute</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#getGroup--">getGroup</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#getName--">getName</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#initialize--">initialize</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#interrupted--">interrupted</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isCanceled--">isCanceled</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isFinished--">isFinished</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isInterruptible--">isInterruptible</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isRunning--">isRunning</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isTimedOut--">isTimedOut</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#requires-edu.wpi.first.wpilibj.command.Subsystem-">requires</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#setInterruptible-boolean-">setInterruptible</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#setRunWhenDisabled-boolean-">setRunWhenDisabled</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#setTimeout-double-">setTimeout</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#start--">start</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#timeSinceInitialized--">timeSinceInitialized</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#toString--">toString</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#willRunWhenDisabled--">willRunWhenDisabled</a></code></li>
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<h3>Methods inherited from class java.lang.Object</h3>
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<h4>PIDCommand</h4>
<pre>public PIDCommand(java.lang.String name,
double p,
double i,
double d)</pre>
<div class="block">Instantiates a <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a> that will use the given p, i and d values.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name of the command</dd>
<dd><code>p</code> - the proportional value</dd>
<dd><code>i</code> - the integral value</dd>
<dd><code>d</code> - the derivative value</dd>
</dl>
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<pre>public PIDCommand(java.lang.String name,
double p,
double i,
double d,
double period)</pre>
<div class="block">Instantiates a <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a> that will use the given p, i and d values. It will also space
the time between PID loop calculations to be equal to the given period.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name</dd>
<dd><code>p</code> - the proportional value</dd>
<dd><code>i</code> - the integral value</dd>
<dd><code>d</code> - the derivative value</dd>
<dd><code>period</code> - the time (in seconds) between calculations</dd>
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<pre>public PIDCommand(double p,
double i,
double d)</pre>
<div class="block">Instantiates a <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a> that will use the given p, i and d values. It will use the
class name as its name.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>p</code> - the proportional value</dd>
<dd><code>i</code> - the integral value</dd>
<dd><code>d</code> - the derivative value</dd>
</dl>
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<pre>public PIDCommand(double p,
double i,
double d,
double period)</pre>
<div class="block">Instantiates a <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a> that will use the given p, i and d values. It will use the
class name as its name.. It will also space the time between PID loop calculations to be equal
to the given period.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>p</code> - the proportional value</dd>
<dd><code>i</code> - the integral value</dd>
<dd><code>d</code> - the derivative value</dd>
<dd><code>period</code> - the time (in seconds) between calculations</dd>
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<h4>getPIDController</h4>
<pre>protected <a href="../../../../../edu/wpi/first/wpilibj/PIDController.html" title="class in edu.wpi.first.wpilibj">PIDController</a> getPIDController()</pre>
<div class="block">Returns the <a href="../../../../../edu/wpi/first/wpilibj/PIDController.html" title="class in edu.wpi.first.wpilibj"><code>PIDController</code></a> used by this <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a>. Use this if you would like
to fine tune the pid loop.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the <a href="../../../../../edu/wpi/first/wpilibj/PIDController.html" title="class in edu.wpi.first.wpilibj"><code>PIDController</code></a> used by this <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a></dd>
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<h4>setSetpointRelative</h4>
<pre>public void setSetpointRelative(double deltaSetpoint)</pre>
<div class="block">Adds the given value to the setpoint. If <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#setInputRange-double-double-"><code>setInputRange(...)</code></a> was used, then the bounds will still be honored by this method.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>deltaSetpoint</code> - the change in the setpoint</dd>
</dl>
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<h4>setSetpoint</h4>
<pre>protected void setSetpoint(double setpoint)</pre>
<div class="block">Sets the setpoint to the given value. If <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html#setInputRange-double-double-"><code>setInputRange(...)</code></a> was called, then the given setpoint will be trimmed to fit within the
range.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>setpoint</code> - the new setpoint</dd>
</dl>
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<h4>getSetpoint</h4>
<pre>protected double getSetpoint()</pre>
<div class="block">Returns the setpoint.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the setpoint</dd>
</dl>
</li>
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<h4>getPosition</h4>
<pre>protected double getPosition()</pre>
<div class="block">Returns the current position.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the current position</dd>
</dl>
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<pre>protected void setInputRange(double minimumInput,
double maximumInput)</pre>
<div class="block">Sets the maximum and minimum values expected from the input and setpoint.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>minimumInput</code> - the minimum value expected from the input and setpoint</dd>
<dd><code>maximumInput</code> - the maximum value expected from the input and setpoint</dd>
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<h4>returnPIDInput</h4>
<pre>protected abstract double returnPIDInput()</pre>
<div class="block">Returns the input for the pid loop.
<p>It returns the input for the pid loop, so if this command was based off of a gyro, then it
should return the angle of the gyro.
<p>All subclasses of <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a> must override this method.
<p>This method will be called in a different thread then the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a> thread.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the value the pid loop should use as input</dd>
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<h4>usePIDOutput</h4>
<pre>protected abstract void usePIDOutput(double output)</pre>
<div class="block">Uses the value that the pid loop calculated. The calculated value is the "output" parameter.
This method is a good time to set motor values, maybe something along the lines of
<code>driveline.tankDrive(output, -output)</code>
<p>All subclasses of <a href="../../../../../edu/wpi/first/wpilibj/command/PIDCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>PIDCommand</code></a> must override this method.
<p>This method will be called in a different thread then the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a> thread.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>output</code> - the value the pid loop calculated</dd>
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<h4>getSmartDashboardType</h4>
<pre>public java.lang.String getSmartDashboardType()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#getSmartDashboardType--">Sendable</a></code></span></div>
<div class="block">The string representation of the named data type that will be used by the smart dashboard for
this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#getSmartDashboardType--">getSmartDashboardType</a></code> in interface <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></code></dd>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#getSmartDashboardType--">getSmartDashboardType</a></code> in class <code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The type of this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</dd>
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<h4>initTable</h4>
<pre>public void initTable(<a href="../../../../../edu/wpi/first/networktables/NetworkTable.html" title="class in edu.wpi.first.networktables">NetworkTable</a> table)</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#initTable-edu.wpi.first.networktables.NetworkTable-">Sendable</a></code></span></div>
<div class="block">Initializes a table for this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a> object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></code> in interface <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></code></dd>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></code> in class <code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>table</code> - The table to put the values in.</dd>
</dl>
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