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[wpimath] PIDController.setIntegratorRange documentation fix (#6489)

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This commit is contained in:
Carl Hauser
2024-05-24 11:49:00 -07:00
committed by GitHub
parent 6220c6be4d
commit 294c9946ae
4 changed files with 22 additions and 20 deletions
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10
wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
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@@ -313,13 +313,13 @@ public class PIDController implements Sendable, AutoCloseable {
}
/**
* Sets the minimum and maximum values for the integrator.
* Sets the minimum and maximum contributions of the integral term.
*
* <p>When the cap is reached, the integrator value is added to the controller output rather than
* the integrator value times the integral gain.
* <p>The internal integrator is clamped so that the integral term's contribution to the output
* stays between minimumIntegral and maximumIntegral. This prevents integral windup.
*
* @param minimumIntegral The minimum value of the integrator.
* @param maximumIntegral The maximum value of the integrator.
* @param minimumIntegral The minimum contribution of the integral term.
* @param maximumIntegral The maximum contribution of the integral term.
*/
public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
m_minimumIntegral = minimumIntegral;

10
wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
View File

@@ -284,13 +284,13 @@ public class ProfiledPIDController implements Sendable {
}
/**
* Sets the minimum and maximum values for the integrator.
* Sets the minimum and maximum contributions of the integral term.
*
* <p>When the cap is reached, the integrator value is added to the controller output rather than
* the integrator value times the integral gain.
* <p>The internal integrator is clamped so that the integral term's contribution to the output
* stays between minimumIntegral and maximumIntegral. This prevents integral windup.
*
* @param minimumIntegral The minimum value of the integrator.
* @param maximumIntegral The maximum value of the integrator.
* @param minimumIntegral The minimum contribution of the integral term.
* @param maximumIntegral The maximum contribution of the integral term.
*/
public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
m_controller.setIntegratorRange(minimumIntegral, maximumIntegral);