Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Added constructor to PIDController that takes references instead of pointers (#745)

Browse Source
This commit is contained in:
Tyler Veness
2017-11-19 19:06:00 -08:00
committed by Peter Johnson
parent 5af0c9c101
commit 11f37683c3
2 changed files with 37 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
wpilibc/src/main/native/cpp/PIDController.cpp
View File

@@ -87,6 +87,39 @@ PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
}
/**
* Allocate a PID object with the given constants for P, I, D.
*
* @param Kp the proportional coefficient
* @param Ki the integral coefficient
* @param Kd the derivative coefficient
* @param source The PIDSource object that is used to get values
* @param output The PIDOutput object that is set to the output value
* @param period the loop time for doing calculations. This particularly
* effects calculations of the integral and differental terms.
* The default is 50ms.
*/
PIDController::PIDController(double Kp, double Ki, double Kd, PIDSource& source,
PIDOutput& output, double period)
: PIDController(Kp, Ki, Kd, 0.0, &source, &output, period) {}
/**
* Allocate a PID object with the given constants for P, I, D.
*
* @param Kp the proportional coefficient
* @param Ki the integral coefficient
* @param Kd the derivative coefficient
* @param source The PIDSource object that is used to get values
* @param output The PIDOutput object that is set to the output value
* @param period the loop time for doing calculations. This particularly
* effects calculations of the integral and differental terms.
* The default is 50ms.
*/
PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
PIDSource& source, PIDOutput& output,
double period)
: PIDController(Kp, Ki, Kd, Kf, &source, &output, period) {}
PIDController::~PIDController() {
// forcefully stopping the notifier so the callback can successfully run.
m_controlLoop->Stop();