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Fix trapezoidal profile PID controller setpoint bug (#2210)

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Co-Authored-By: Austin Shalit <austinshalit@gmail.com>
This commit is contained in:
Matt
2020-01-01 15:23:25 -08:00
committed by Peter Johnson
parent abe25b795b
commit 222669dc2c
8 changed files with 90 additions and 14 deletions
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2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
View File

@@ -113,7 +113,7 @@ public class ProfiledPIDCommand extends CommandBase {
@Override
public void initialize() {
m_controller.reset();
m_controller.reset(m_measurement.getAsDouble());
}
@Override

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
View File

@@ -93,7 +93,7 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
*/
public void enable() {
m_enabled = true;
m_controller.reset();
m_controller.reset(getMeasurement());
}
/**