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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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34
wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -46,7 +46,8 @@ class ProfiledPIDController
public:
/**
* Allocates a ProfiledPIDController with the given constants for Kp, Ki, and
* Kd.
* Kd. Users should call reset() when they first start running the controller
* to avoid unwanted behavior.
*
* @param Kp The proportional coefficient.
* @param Ki The integral coefficient.
@@ -292,9 +293,34 @@ class ProfiledPIDController
}
/**
* Reset the previous error, the integral term, and disable the controller.
* Reset the previous error and the integral term.
*
* @param measurement The current measured State of the system.
*/
void Reset() { m_controller.Reset(); }
void Reset(const State& measurement) {
m_controller.Reset();
m_setpoint = measurement;
}
/**
* Reset the previous error and the integral term.
*
* @param measuredPosition The current measured position of the system.
* @param measuredVelocity The current measured velocity of the system.
*/
void Reset(Distance_t measuredPosition, Velocity_t measuredVelocity) {
Reset(State{measuredPosition, measuredVelocity});
}
/**
* Reset the previous error and the integral term.
*
* @param measuredPosition The current measured position of the system. The
* velocity is assumed to be zero.
*/
void Reset(Distance_t measuredPosition) {
Reset(measuredPosition, Velocity_t(0));
}
void InitSendable(frc::SendableBuilder& builder) override {
builder.SetSmartDashboardType("ProfiledPIDController");