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

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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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11
wpimath/src/main/native/include/frc/controller/PIDController.h
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@@ -179,13 +179,14 @@ class WPILIB_DLLEXPORT PIDController
bool IsContinuousInputEnabled() const;
/**
* Sets the minimum and maximum values for the integrator.
* Sets the minimum and maximum contributions of the integral term.
*
* When the cap is reached, the integrator value is added to the controller
* output rather than the integrator value times the integral gain.
* 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.
*/
void SetIntegratorRange(double minimumIntegral, double maximumIntegral);