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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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23
wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
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@@ -12,7 +12,6 @@ import java.util.concurrent.locks.ReentrantLock;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.util.BoundaryException;
import edu.wpi.first.wpilibj.filters.LinearDigitalFilter;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import static java.util.Objects.requireNonNull;
@@ -84,8 +83,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
private double m_error;
private double m_result;
private PIDSource m_origSource;
private LinearDigitalFilter m_filter;
private LinearFilter m_filter;
protected ReentrantLock m_thisMutex = new ReentrantLock();
@@ -168,12 +166,8 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
m_D = Kd;
m_F = Kf;
// Save original source
m_origSource = source;
// 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;
@@ -203,7 +197,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
*/
@SuppressWarnings({"LocalVariableName", "PMD.ExcessiveMethodLength", "PMD.NPathComplexity"})
protected void calculate() {
if (m_origSource == null || m_pidOutput == null) {
if (m_pidInput == null || m_pidOutput == null) {
return;
}
@@ -235,7 +229,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
m_thisMutex.lock();
try {
input = m_pidInput.pidGet();
input = m_filter.calculate(m_pidInput.pidGet());
pidSourceType = m_pidInput.getPIDSourceType();
P = m_P;
@@ -638,7 +632,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
public double getError() {
m_thisMutex.lock();
try {
return getContinuousError(getSetpoint() - m_pidInput.pidGet());
return getContinuousError(getSetpoint() - m_filter.calculate(m_pidInput.pidGet()));
} finally {
m_thisMutex.unlock();
}
@@ -731,15 +725,14 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
* erroneous measurements when the mechanism is on target. However, the mechanism will not
* register as on target for at least the specified bufLength cycles.
*
* @deprecated Use a LinearDigitalFilter as the input.
* @deprecated Use a LinearFilter as the input.
* @param bufLength Number of previous cycles to average.
*/
@Deprecated
public void setToleranceBuffer(int bufLength) {
m_thisMutex.lock();
try {
m_filter = LinearDigitalFilter.movingAverage(m_origSource, bufLength);
m_pidInput = m_filter;
m_filter = LinearFilter.movingAverage(bufLength);
} finally {
m_thisMutex.unlock();
}