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Replaces Timer in PIDController.java with Notifier (#878)

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Fixes #877.
This commit is contained in:
Tyler Veness
2018-05-16 00:02:21 -07:00
committed by Peter Johnson
parent 8d57b73b41
commit 3e6c3c3e98
1 changed files with 6 additions and 23 deletions
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29
wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
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@@ -7,7 +7,6 @@
package edu.wpi.first.wpilibj;
import java.util.TimerTask;
import java.util.concurrent.locks.ReentrantLock;
import edu.wpi.first.wpilibj.filters.LinearDigitalFilter;
@@ -69,8 +68,9 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
protected PIDSource m_pidInput;
protected PIDOutput m_pidOutput;
java.util.Timer m_controlLoop;
Timer m_setpointTimer;
Notifier m_controlLoop = new Notifier(this::calculate);
Timer m_setpointTimer = new Timer();
/**
* Tolerance is the type of tolerance used to specify if the PID controller is on target.
@@ -118,21 +118,6 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
}
}
private class PIDTask extends TimerTask {
private PIDController m_controller;
PIDTask(PIDController controller) {
requireNonNull(controller, "Given PIDController was null");
m_controller = controller;
}
@Override
public void run() {
m_controller.calculate();
}
}
/**
* Allocate a PID object with the given constants for P, I, D, and F.
*
@@ -152,8 +137,6 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
requireNonNull(source, "Null PIDSource was given");
requireNonNull(output, "Null PIDOutput was given");
m_controlLoop = new java.util.Timer();
m_setpointTimer = new Timer();
m_setpointTimer.start();
m_P = Kp;
@@ -171,7 +154,7 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
m_pidOutput = output;
m_period = period;
m_controlLoop.schedule(new PIDTask(this), 0L, (long) (m_period * 1000));
m_controlLoop.startPeriodic(m_period);
instances++;
HLUsageReporting.reportPIDController(instances);
@@ -232,7 +215,7 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
@Override
public void free() {
super.free();
m_controlLoop.cancel();
m_controlLoop.stop();
m_thisMutex.lock();
try {
m_pidOutput = null;
@@ -245,7 +228,7 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
/**
* Read the input, calculate the output accordingly, and write to the output. This should only be
* called by the PIDTask and is created during initialization.
* called by the Notifier and is created during initialization.
*/
@SuppressWarnings("LocalVariableName")
protected void calculate() {