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[wpimath] PIDController: Add getters for position & velocity tolerances (#4458)

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This commit is contained in:
Justin
2022-10-25 19:10:19 -04:00
committed by GitHub
parent 9f36301dc8
commit 2a98d6b5d7
5 changed files with 76 additions and 0 deletions
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14
wpimath/src/main/native/include/frc/controller/PIDController.h
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@@ -101,6 +101,20 @@ class WPILIB_DLLEXPORT PIDController
*/
units::second_t GetPeriod() const;
/**
* Gets the position tolerance of this controller.
*
* @return The position tolerance of the controller.
*/
double GetPositionTolerance() const;
/**
* Gets the velocity tolerance of this controller.
*
* @return The velocity tolerance of the controller.
*/
double GetVelocityTolerance() const;
/**
* Sets the setpoint for the PIDController.
*

18
wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
View File

@@ -131,6 +131,24 @@ class ProfiledPIDController
*/
units::second_t GetPeriod() const { return m_controller.GetPeriod(); }
/**
* Gets the position tolerance of this controller.
*
* @return The position tolerance of the controller.
*/
double GetPositionTolerance() const {
return m_controller.GetPositionTolerance();
}
/**
* Gets the velocity tolerance of this controller.
*
* @return The velocity tolerance of the controller.
*/
double GetVelocityTolerance() const {
return m_controller.GetVelocityTolerance();
}
/**
* Sets the goal for the ProfiledPIDController.
*