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[wpilib] PIDController: Recompute the error in AtSetpoint() (#2822)

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This makes AtSetpoint() return false after the setpoint is changed with
SetSetpoint().

Closes #2821.

Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
This commit is contained in:
Tyler Veness
2020-11-28 14:33:17 -08:00
committed by GitHub
parent 2056f0ce09
commit 3413bfc06a
5 changed files with 45 additions and 5 deletions
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15
wpilibc/src/main/native/cpp/controller/PIDController.cpp
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@@ -54,8 +54,18 @@ void PIDController::SetSetpoint(double setpoint) { m_setpoint = setpoint; }
double PIDController::GetSetpoint() const { return m_setpoint; }
bool PIDController::AtSetpoint() const {
return std::abs(m_positionError) < m_positionTolerance &&
std::abs(m_velocityError) < m_velocityTolerance;
double positionError;
if (m_continuous) {
positionError = frc::GetModulusError<double>(
m_setpoint, m_measurement, m_minimumInput, m_maximumInput);
} else {
positionError = m_setpoint - m_measurement;
}
double velocityError = (positionError - m_prevError) / m_period.to<double>();
return std::abs(positionError) < m_positionTolerance &&
std::abs(velocityError) < m_velocityTolerance;
}
void PIDController::EnableContinuousInput(double minimumInput,
@@ -86,6 +96,7 @@ double PIDController::GetPositionError() const { return m_positionError; }
double PIDController::GetVelocityError() const { return m_velocityError; }
double PIDController::Calculate(double measurement) {
m_measurement = measurement;
m_prevError = m_positionError;
if (m_continuous) {