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[wpimath] Report error on negative PID gains (#6055)

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Defaults PID gains to zero if any are invalid.
This commit is contained in:
Tyler Veness
2023-12-23 12:15:29 -08:00
committed by GitHub
parent 1dba26c937
commit 22a322c9f3
9 changed files with 92 additions and 48 deletions
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26
wpimath/src/main/native/cpp/controller/PIDController.cpp
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@@ -18,10 +18,32 @@ using namespace frc;
PIDController::PIDController(double Kp, double Ki, double Kd,
units::second_t period)
: m_Kp(Kp), m_Ki(Ki), m_Kd(Kd), m_period(period) {
bool invalidGains = false;
if (Kp < 0.0) {
wpi::math::MathSharedStore::ReportError(
"Kp must be a non-negative number, got {}!", Kp);
invalidGains = true;
}
if (Ki < 0.0) {
wpi::math::MathSharedStore::ReportError(
"Ki must be a non-negative number, got {}!", Ki);
invalidGains = true;
}
if (Kd < 0.0) {
wpi::math::MathSharedStore::ReportError(
"Kd must be a non-negative number, got {}!", Kd);
invalidGains = true;
}
if (invalidGains) {
m_Kp = 0.0;
m_Ki = 0.0;
m_Kd = 0.0;
wpi::math::MathSharedStore::ReportWarning("PID gains defaulted to 0.");
}
if (period <= 0_s) {
wpi::math::MathSharedStore::ReportError(
"Controller period must be a non-zero positive number, got {}!",
period.value());
"Controller period must be a positive number, got {}!", period.value());
m_period = 20_ms;
wpi::math::MathSharedStore::ReportWarning(
"Controller period defaulted to 20ms.");