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[examples] Don't continually set setpoint in PotentiometerPID Examples (#3084)

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sciencewhiz
2021-01-13 20:09:08 -08:00
committed by GitHub
parent 8c5bfa0132
commit 04a90b5dd1
2 changed files with 7 additions and 3 deletions
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6
wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
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@@ -17,6 +17,10 @@
*/
class Robot : public frc::TimedRobot {
public:
void RobotInit() override {
m_pidController.SetSetpoint(kSetPoints[m_index]);
}
void TeleopPeriodic() override {
// When the button is pressed once, the selected elevator setpoint is
// incremented.
@@ -24,10 +28,10 @@ class Robot : public frc::TimedRobot {
if (currentButtonValue && !m_previousButtonValue) {
// Index of the elevator setpoint wraps around
m_index = (m_index + 1) % (sizeof(kSetPoints) / 8);
m_pidController.SetSetpoint(kSetPoints[m_index]);
}
m_previousButtonValue = currentButtonValue;
m_pidController.SetSetpoint(kSetPoints[m_index]);
double output =
m_pidController.Calculate(m_potentiometer.GetAverageVoltage());
m_elevatorMotor.Set(output);