Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Cleanup PIDController (#597)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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;
}
}