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Cleanup PIDController (#597)

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This commit is contained in:
Caleb Smith
2017-11-22 21:56:35 -05:00
committed by Peter Johnson
parent ba879f4663
commit 0431cf97ff
3 changed files with 14 additions and 10 deletions
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11
wpilibc/src/main/native/cpp/PIDController.cpp
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@@ -332,6 +332,7 @@ void PIDController::SetInputRange(double minimumInput, double maximumInput) {
std::lock_guard<wpi::mutex> lock(m_mutex);
m_minimumInput = minimumInput;
m_maximumInput = maximumInput;
m_inputRange = maximumInput - minimumInput;
}
SetSetpoint(m_setpoint);
@@ -502,8 +503,7 @@ bool PIDController::OnTarget() const {
std::lock_guard<wpi::mutex> lock(m_mutex);
switch (m_toleranceType) {
case kPercentTolerance:
return std::fabs(error) <
m_tolerance / 100 * (m_maximumInput - m_minimumInput);
return std::fabs(error) < m_tolerance / 100 * m_inputRange;
break;
case kAbsoluteTolerance:
return std::fabs(error) < m_tolerance;
@@ -640,12 +640,11 @@ void PIDController::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
* @return Error for continuous inputs.
*/
double PIDController::GetContinuousError(double error) const {
if (m_continuous &&
std::fabs(error) > (m_maximumInput - m_minimumInput) / 2) {
if (m_continuous && std::fabs(error) > m_inputRange / 2) {
if (error > 0) {
return error - (m_maximumInput - m_minimumInput);
return error - m_inputRange;
} else {
return error + (m_maximumInput - m_minimumInput);
return error + m_inputRange;
}
}

3
wpilibc/src/main/native/include/PIDController.h
View File

@@ -135,6 +135,9 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
// Minimum input - limit setpoint to this
double m_minimumInput = 0;
// input range - difference between maximum and minimum
double m_inputRange = 0;
// Do the endpoints wrap around? eg. Absolute encoder
bool m_continuous = false;

10
wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
View File

@@ -44,6 +44,7 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
private double m_minimumOutput = -1.0; // |minimum output|
private double m_maximumInput = 0.0; // maximum input - limit setpoint to this
private double m_minimumInput = 0.0; // minimum input - limit setpoint to this
private double m_inputRange = 0.0; // input range - difference between maximum and minimum
// do the endpoints wrap around? eg. Absolute encoder
private boolean m_continuous = false;
private boolean m_enabled = false; // is the pid controller enabled
@@ -96,7 +97,7 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
@Override
public boolean onTarget() {
return Math.abs(getError()) < m_percentage / 100 * (m_maximumInput - m_minimumInput);
return Math.abs(getError()) < m_percentage / 100 * m_inputRange;
}
}
@@ -448,6 +449,7 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
}
m_minimumInput = minimumInput;
m_maximumInput = maximumInput;
m_inputRange = maximumInput - minimumInput;
setSetpoint(m_setpoint);
}
@@ -769,11 +771,11 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
* @return Error for continuous inputs.
*/
protected double getContinuousError(double error) {
if (m_continuous && Math.abs(error) > (m_maximumInput - m_minimumInput) / 2) {
if (m_continuous && Math.abs(error) > m_inputRange / 2) {
if (error > 0) {
return error - (m_maximumInput - m_minimumInput);
return error - m_inputRange;
} else {
return error + (m_maximumInput - m_minimumInput);
return error + m_inputRange;
}
}