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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
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
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@@ -40,7 +40,7 @@ public class Robot extends 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(

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java
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@@ -126,7 +126,7 @@ public class Robot extends TimedRobot {
goal = new TrapezoidProfile.State(kLoweredPosition, 0.0);
}
// Step our TrapezoidalProfile forward 20ms and set it as our next reference
m_lastProfiledReference = m_profile.calculate(0.020, goal, m_lastProfiledReference);
m_lastProfiledReference = m_profile.calculate(0.020, m_lastProfiledReference, goal);
m_loop.setNextR(m_lastProfiledReference.position, m_lastProfiledReference.velocity);
// Correct our Kalman filter's state vector estimate with encoder data.
m_loop.correct(VecBuilder.fill(m_encoder.getDistance()));

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java
View File

@@ -130,7 +130,7 @@ public class Robot extends TimedRobot {
goal = new TrapezoidProfile.State(kLowGoalPosition, 0.0);
}
// Step our TrapezoidalProfile forward 20ms and set it as our next reference
m_lastProfiledReference = m_profile.calculate(0.020, goal, m_lastProfiledReference);
m_lastProfiledReference = m_profile.calculate(0.020, m_lastProfiledReference, goal);
m_loop.setNextR(m_lastProfiledReference.position, m_lastProfiledReference.velocity);
// Correct our Kalman filter's state vector estimate with encoder data.