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[wpimath] Reorder TrapezoidProfile.calculate() arguments (#5874)

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ProfiledPIDController and ExponentialProfile use current, then goal.
This isn't a breaking change because this overload of calculate() is
new for 2024.
This commit is contained in:
Tyler Veness
2023-11-04 16:28:55 -07:00
committed by GitHub
parent 04a781b4d7
commit 201a42a3cd
15 changed files with 45 additions and 45 deletions
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2
wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
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@@ -34,7 +34,7 @@ class Robot : public frc::TimedRobot {
// Retrieve the profiled setpoint for the next timestep. This setpoint moves
// toward the goal while obeying the constraints.
m_setpoint = m_profile.Calculate(kDt, m_goal, m_setpoint);
m_setpoint = m_profile.Calculate(kDt, m_setpoint, m_goal);
// Send setpoint to offboard controller PID
m_motor.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,

2
wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
View File

@@ -117,7 +117,7 @@ class Robot : public frc::TimedRobot {
goal = {kLoweredPosition, 0_rad_per_s};
}
m_lastProfiledReference =
m_profile.Calculate(20_ms, goal, m_lastProfiledReference);
m_profile.Calculate(20_ms, m_lastProfiledReference, goal);
m_loop.SetNextR(frc::Vectord<2>{m_lastProfiledReference.position.value(),
m_lastProfiledReference.velocity.value()});

2
wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
View File

@@ -117,7 +117,7 @@ class Robot : public frc::TimedRobot {
goal = {kLoweredPosition, 0_fps};
}
m_lastProfiledReference =
m_profile.Calculate(20_ms, goal, m_lastProfiledReference);
m_profile.Calculate(20_ms, m_lastProfiledReference, goal);
m_loop.SetNextR(frc::Vectord<2>{m_lastProfiledReference.position.value(),
m_lastProfiledReference.velocity.value()});