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Clean up LinearDigitalFilter class (#782)

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* Renamed LinearDigitalFilter to LinearFilter
* Filter base class removed since it wasn't useful
* C++: std::shared_ptr<> replaced with double parameter
This commit is contained in:
Tyler Veness
2019-06-28 13:35:57 -07:00
committed by Peter Johnson
parent 311e2de4c1
commit 30e936837c
22 changed files with 771 additions and 960 deletions
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19
wpilibc/src/main/native/cpp/PIDBase.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -34,12 +34,8 @@ PIDBase::PIDBase(double Kp, double Ki, double Kd, double Kf, PIDSource& source,
m_D = Kd;
m_F = Kf;
// Save original source
m_origSource = std::shared_ptr<PIDSource>(&source, NullDeleter<PIDSource>());
// Create LinearDigitalFilter with original source as its source argument
m_filter = LinearDigitalFilter::MovingAverage(m_origSource, 1);
m_pidInput = &m_filter;
m_pidInput = &source;
m_filter = LinearFilter::MovingAverage(1);
m_pidOutput = &output;
@@ -200,10 +196,7 @@ void PIDBase::SetPercentTolerance(double percent) {
void PIDBase::SetToleranceBuffer(int bufLength) {
std::lock_guard<wpi::mutex> lock(m_thisMutex);
// Create LinearDigitalFilter with original source as its source argument
m_filter = LinearDigitalFilter::MovingAverage(m_origSource, bufLength);
m_pidInput = &m_filter;
m_filter = LinearFilter::MovingAverage(bufLength);
}
bool PIDBase::OnTarget() const {
@@ -249,7 +242,7 @@ void PIDBase::InitSendable(SendableBuilder& builder) {
}
void PIDBase::Calculate() {
if (m_origSource == nullptr || m_pidOutput == nullptr) return;
if (m_pidInput == nullptr || m_pidOutput == nullptr) return;
bool enabled;
{
@@ -277,7 +270,7 @@ void PIDBase::Calculate() {
{
std::lock_guard<wpi::mutex> lock(m_thisMutex);
input = m_pidInput->PIDGet();
input = m_filter.Calculate(m_pidInput->PIDGet());
pidSourceType = m_pidInput->GetPIDSourceType();
P = m_P;