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Add PIDInterface for PIDController and CAN devices.

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Added a PIDInterface for the PIDContrller, CANJaguar, and CANTalon to
inherit from.

Change-Id: I88d4943159476a44400009703db5e79d8cd4b5a9
This commit is contained in:
James Kuszmaul
2015-06-15 13:48:53 -04:00
parent 27e4509676
commit 4013402134
11 changed files with 295 additions and 105 deletions
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30
wpilibc/wpilibC++Devices/src/PIDController.cpp
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@@ -63,7 +63,7 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
float period)
{
m_table = NULL;
m_semaphore = initializeMutexNormal();
m_controlLoop = new Notifier(PIDController::CallCalculate, this);
@@ -209,7 +209,7 @@ void PIDController::Calculate()
* @param i Integral coefficient
* @param d Differential coefficient
*/
void PIDController::SetPID(float p, float i, float d)
void PIDController::SetPID(double p, double i, double d)
{
CRITICAL_REGION(m_semaphore)
{
@@ -234,7 +234,7 @@ void PIDController::SetPID(float p, float i, float d)
* @param d Differential coefficient
* @param f Feed forward coefficient
*/
void PIDController::SetPID(float p, float i, float d, float f)
void PIDController::SetPID(double p, double i, double d, double f)
{
CRITICAL_REGION(m_semaphore)
{
@@ -257,7 +257,7 @@ void PIDController::SetPID(float p, float i, float d, float f)
* Get the Proportional coefficient
* @return proportional coefficient
*/
float PIDController::GetP() const
double PIDController::GetP() const
{
CRITICAL_REGION(m_semaphore)
{
@@ -270,7 +270,7 @@ float PIDController::GetP() const
* Get the Integral coefficient
* @return integral coefficient
*/
float PIDController::GetI() const
double PIDController::GetI() const
{
CRITICAL_REGION(m_semaphore)
{
@@ -283,7 +283,7 @@ float PIDController::GetI() const
* Get the Differential coefficient
* @return differential coefficient
*/
float PIDController::GetD() const
double PIDController::GetD() const
{
CRITICAL_REGION(m_semaphore)
{
@@ -296,7 +296,7 @@ float PIDController::GetD() const
* Get the Feed forward coefficient
* @return Feed forward coefficient
*/
float PIDController::GetF() const
double PIDController::GetF() const
{
CRITICAL_REGION(m_semaphore)
{
@@ -348,7 +348,7 @@ void PIDController::SetInputRange(float minimumInput, float maximumInput)
CRITICAL_REGION(m_semaphore)
{
m_minimumInput = minimumInput;
m_maximumInput = maximumInput;
m_maximumInput = maximumInput;
}
END_REGION;
@@ -393,8 +393,8 @@ void PIDController::SetSetpoint(float setpoint)
m_setpoint = setpoint;
}
}
END_REGION;
END_REGION;
if (m_table != NULL) {
m_table->PutNumber("setpoint", m_setpoint);
}
@@ -404,7 +404,7 @@ void PIDController::SetSetpoint(float setpoint)
* Returns the current setpoint of the PIDController
* @return the current setpoint
*/
float PIDController::GetSetpoint() const
double PIDController::GetSetpoint() const
{
float setpoint;
CRITICAL_REGION(m_semaphore)
@@ -512,11 +512,11 @@ bool PIDController::OnTarget() const
void PIDController::Enable()
{
CRITICAL_REGION(m_semaphore)
{
{
m_enabled = true;
}
END_REGION;
END_REGION;
if (m_table != NULL) {
m_table->PutBoolean("enabled", true);
}
@@ -533,7 +533,7 @@ void PIDController::Disable()
m_enabled = false;
}
END_REGION;
if (m_table != NULL) {
m_table->PutBoolean("enabled", false);
}