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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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23
wpimath/src/main/native/include/frc/controller/PIDController.h
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@@ -25,11 +25,11 @@ class WPILIB_DLLEXPORT PIDController
/**
* Allocates a PIDController with the given constants for Kp, Ki, and Kd.
*
* @param Kp The proportional coefficient.
* @param Ki The integral coefficient.
* @param Kd The derivative coefficient.
* @param Kp The proportional coefficient. Must be >= 0.
* @param Ki The integral coefficient. Must be >= 0.
* @param Kd The derivative coefficient. Must be >= 0.
* @param period The period between controller updates in seconds. The
* default is 20 milliseconds. Must be non-zero and positive.
* default is 20 milliseconds. Must be positive.
*/
PIDController(double Kp, double Ki, double Kd,
units::second_t period = 20_ms);
@@ -46,30 +46,30 @@ class WPILIB_DLLEXPORT PIDController
*
* Sets the proportional, integral, and differential coefficients.
*
* @param Kp Proportional coefficient
* @param Ki Integral coefficient
* @param Kd Differential coefficient
* @param Kp The proportional coefficient. Must be >= 0.
* @param Ki The integral coefficient. Must be >= 0.
* @param Kd The differential coefficient. Must be >= 0.
*/
void SetPID(double Kp, double Ki, double Kd);
/**
* Sets the proportional coefficient of the PID controller gain.
*
* @param Kp proportional coefficient
* @param Kp The proportional coefficient. Must be >= 0.
*/
void SetP(double Kp);
/**
* Sets the integral coefficient of the PID controller gain.
*
* @param Ki integral coefficient
* @param Ki The integral coefficient. Must be >= 0.
*/
void SetI(double Ki);
/**
* Sets the differential coefficient of the PID controller gain.
*
* @param Kd differential coefficient
* @param Kd The differential coefficient. Must be >= 0.
*/
void SetD(double Kd);
@@ -81,7 +81,8 @@ class WPILIB_DLLEXPORT PIDController
* non-negative. Passing a value of zero will effectively disable integral
* gain. Passing a value of infinity disables IZone functionality.
*
* @param iZone Maximum magnitude of error to allow integral control.
* @param iZone Maximum magnitude of error to allow integral control. Must be
* >= 0.
*/
void SetIZone(double iZone);

23
wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
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@@ -49,12 +49,12 @@ class ProfiledPIDController
* 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.
* @param Kd The derivative coefficient.
* @param Kp The proportional coefficient. Must be >= 0.
* @param Ki The integral coefficient. Must be >= 0.
* @param Kd The derivative coefficient. Must be >= 0.
* @param constraints Velocity and acceleration constraints for goal.
* @param period The period between controller updates in seconds. The
* default is 20 milliseconds.
* default is 20 milliseconds. Must be positive.
*/
ProfiledPIDController(double Kp, double Ki, double Kd,
Constraints constraints, units::second_t period = 20_ms)
@@ -79,9 +79,9 @@ class ProfiledPIDController
*
* Sets the proportional, integral, and differential coefficients.
*
* @param Kp Proportional coefficient
* @param Ki Integral coefficient
* @param Kd Differential coefficient
* @param Kp The proportional coefficient. Must be >= 0.
* @param Ki The integral coefficient. Must be >= 0.
* @param Kd The differential coefficient. Must be >= 0.
*/
void SetPID(double Kp, double Ki, double Kd) {
m_controller.SetPID(Kp, Ki, Kd);
@@ -90,21 +90,21 @@ class ProfiledPIDController
/**
* Sets the proportional coefficient of the PID controller gain.
*
* @param Kp proportional coefficient
* @param Kp The proportional coefficient. Must be >= 0.
*/
void SetP(double Kp) { m_controller.SetP(Kp); }
/**
* Sets the integral coefficient of the PID controller gain.
*
* @param Ki integral coefficient
* @param Ki The integral coefficient. Must be >= 0.
*/
void SetI(double Ki) { m_controller.SetI(Ki); }
/**
* Sets the differential coefficient of the PID controller gain.
*
* @param Kd differential coefficient
* @param Kd The differential coefficient. Must be >= 0.
*/
void SetD(double Kd) { m_controller.SetD(Kd); }
@@ -116,7 +116,8 @@ class ProfiledPIDController
* non-negative. Passing a value of zero will effectively disable integral
* gain. Passing a value of infinity disables IZone functionality.
*
* @param iZone Maximum magnitude of error to allow integral control.
* @param iZone Maximum magnitude of error to allow integral control. Must be
* >= 0.
*/
void SetIZone(double iZone) { m_controller.SetIZone(iZone); }