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[wpimath] Document default tolerances of PIDController (#7377)

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This commit is contained in:
Kavin Muralikrishnan
2024-11-12 18:19:55 -05:00
committed by GitHub
parent 425bf83036
commit 07345712dc
2 changed files with 8 additions and 5 deletions
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7
wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
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@@ -246,7 +246,7 @@ public class PIDController implements Sendable, AutoCloseable {
}
/**
* Returns the error tolerance of this controller.
* Returns the error tolerance of this controller. Defaults to 0.05.
*
* @return the error tolerance of the controller.
*/
@@ -255,7 +255,7 @@ public class PIDController implements Sendable, AutoCloseable {
}
/**
* Returns the error derivative tolerance of this controller.
* Returns the error derivative tolerance of this controller. Defaults to ∞.
*
* @return the error derivative tolerance of the controller.
*/
@@ -301,7 +301,8 @@ public class PIDController implements Sendable, AutoCloseable {
}
/**
* Returns true if the error is within the tolerance of the setpoint.
* Returns true if the error is within the tolerance of the setpoint. The error tolerance defaults
* to 0.05, and the error derivative tolerance defaults to ∞.
*
* <p>This will return false until at least one input value has been computed.
*

6
wpimath/src/main/native/include/frc/controller/PIDController.h
View File

@@ -178,14 +178,14 @@ class WPILIB_DLLEXPORT PIDController
constexpr units::second_t GetPeriod() const { return m_period; }
/**
* Gets the error tolerance of this controller.
* Gets the error tolerance of this controller. Defaults to 0.05.
*
* @return The error tolerance of the controller.
*/
constexpr double GetErrorTolerance() const { return m_errorTolerance; }
/**
* Gets the error derivative tolerance of this controller.
* Gets the error derivative tolerance of this controller. Defaults to ∞.
*
* @return The error derivative tolerance of the controller.
*/
@@ -252,6 +252,8 @@ class WPILIB_DLLEXPORT PIDController
/**
* Returns true if the error is within the tolerance of the setpoint.
* The error tolerance defauls to 0.05, and the error derivative tolerance
* defaults to ∞.
*
* This will return false until at least one input value has been computed.
*/