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merged from frcsim branch

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verified to work on real robots
adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows
 - Java and C++ simulation robot programs run on windows
 - simulation eclipse plugin delivers models and gazebo plugins
 - Java Gazebo now respects GAZEBO_IP variables and can work across networks
 - hal and network tables win32 hacked to work on windows
 - smart dashboard broken on windows due to network tables hacks
 - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake
 - removed constexpr for cross platform compatibility
 - msgs generated using .protos as a part of build process
 - some spare and unused cmake/pom files deleted
 - simulation ubuntu debians removed entirely
 - refactored CMake project flags and macros
 - updated to match non-sim C++ API
 - fixed and updated documentation
 - servo added to simulation

Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
This commit is contained in:
peter mitrano
2015-04-26 19:19:57 -04:00
parent 4e46692191
commit 29d029fa61
211 changed files with 2143 additions and 6491 deletions
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50
wpilibc/wpilibC++Sim/src/PIDController.cpp
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@@ -392,6 +392,37 @@ float PIDController::GetError() const
return GetSetpoint() - pidInput;
}
/**
* Sets what type of input the PID controller will use
*/
void PIDController::SetPIDSourceType(PIDSourceType pidSource) {
m_pidInput->SetPIDSourceType(pidSource);
}
/**
* Returns the type of input the PID controller is using
* @return the PID controller input type
*/
PIDSourceType PIDController::GetPIDSourceType() const {
return m_pidInput->GetPIDSourceType();
}
/**
* Returns the current average of the error over the past few iterations.
* You can specify the number of iterations to average with SetToleranceBuffer()
* (defaults to 1). This is the same value that is used for OnTarget().
* @return the average error
*/
float PIDController::GetAvgError() const {
float avgError = 0;
{
std::unique_lock<priority_mutex> sync(m_mutex);
// Don't divide by zero.
if (m_buf.size()) avgError = m_bufTotal / m_buf.size();
}
return avgError;
}
/*
* Set the percentage error which is considered tolerable for use with
* OnTarget.
@@ -428,6 +459,25 @@ void PIDController::SetAbsoluteTolerance(float absTolerance)
m_tolerance = absTolerance;
}
/*
* Set the number of previous error samples to average for tolerancing. When
* determining whether a mechanism is on target, the user may want to use a
* rolling average of previous measurements instead of a precise position or
* velocity. This is useful for noisy sensors which return a few erroneous
* measurements when the mechanism is on target. However, the mechanism will
* not register as on target for at least the specified bufLength cycles.
* @param bufLength Number of previous cycles to average. Defaults to 1.
*/
void PIDController::SetToleranceBuffer(unsigned bufLength) {
m_bufLength = bufLength;
// Cut the buffer down to size if needed.
while (m_buf.size() > bufLength) {
m_bufTotal -= m_buf.front();
m_buf.pop();
}
}
/*
* Return true if the error is within the percentage of the total input range,
* determined by SetTolerance. This asssumes that the maximum and minimum input