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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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46
wpilibc/wpilibC++Sim/src/PIDController.cpp
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@@ -66,7 +66,7 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
m_I = Ki;
m_D = Kd;
m_F = Kf;
m_maximumOutput = 1.0;
m_minimumOutput = -1.0;
@@ -87,14 +87,14 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
m_pidOutput = output;
m_period = period;
m_semaphore = initializeMutexRecursive();
m_controlLoop = new Notifier(PIDController::CallCalculate, this);
m_controlLoop->StartPeriodic(m_period);
static int32_t instances = 0;
instances++;
m_toleranceType = kNoTolerance;
}
@@ -125,7 +125,7 @@ void PIDController::CallCalculate(void *controller)
* Read the input, calculate the output accordingly, and write to the output.
* This should only be called by the Notifier indirectly through CallCalculate
* and is created during initialization.
*/
*/
void PIDController::Calculate()
{
bool enabled;
@@ -163,7 +163,7 @@ void PIDController::Calculate()
}
}
}
if(m_I != 0)
{
double potentialIGain = (m_totalError + m_error) * m_I;
@@ -201,7 +201,7 @@ 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)
{
@@ -226,7 +226,7 @@ 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)
{
@@ -249,7 +249,7 @@ 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)
{
@@ -262,7 +262,7 @@ float PIDController::GetP() const
* Get the Integral coefficient
* @return integral coefficient
*/
float PIDController::GetI() const
double PIDController::GetI() const
{
CRITICAL_REGION(m_semaphore)
{
@@ -275,7 +275,7 @@ float PIDController::GetI() const
* Get the Differential coefficient
* @return differential coefficient
*/
float PIDController::GetD() const
double PIDController::GetD() const
{
CRITICAL_REGION(m_semaphore)
{
@@ -288,7 +288,7 @@ 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)
{
@@ -332,7 +332,7 @@ void PIDController::SetContinuous(bool continuous)
/**
* Sets the maximum and minimum values expected from the input.
*
*
* @param minimumInput the minimum value expected from the input
* @param maximumInput the maximum value expected from the output
*/
@@ -341,7 +341,7 @@ void PIDController::SetInputRange(float minimumInput, float maximumInput)
CRITICAL_REGION(m_semaphore)
{
m_minimumInput = minimumInput;
m_maximumInput = maximumInput;
m_maximumInput = maximumInput;
}
END_REGION;
@@ -350,7 +350,7 @@ void PIDController::SetInputRange(float minimumInput, float maximumInput)
/**
* Sets the minimum and maximum values to write.
*
*
* @param minimumOutput the minimum value to write to the output
* @param maximumOutput the maximum value to write to the output
*/
@@ -386,8 +386,8 @@ void PIDController::SetSetpoint(float setpoint)
m_setpoint = setpoint;
}
}
END_REGION;
END_REGION;
if (m_table != NULL) {
m_table->PutNumber("setpoint", m_setpoint);
}
@@ -397,7 +397,7 @@ 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)
@@ -501,11 +501,11 @@ 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);
}
@@ -522,7 +522,7 @@ void PIDController::Disable()
m_enabled = false;
}
END_REGION;
if (m_table != NULL) {
m_table->PutBoolean("enabled", false);
}
@@ -598,7 +598,7 @@ void PIDController::ValueChanged(ITable* source, const std::string& key, EntryVa
}
void PIDController::UpdateTable() {
}
void PIDController::StartLiveWindowMode() {
@@ -606,5 +606,5 @@ void PIDController::StartLiveWindowMode() {
}
void PIDController::StopLiveWindowMode() {
}