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[glass] Add Profiled PID controller support & IZone Support (#5959)

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This commit is contained in:
m10653
2023-12-22 14:29:25 -05:00
committed by GitHub
parent bcef6c5398
commit 43fb6e9f87
11 changed files with 303 additions and 2 deletions
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8
glass/src/libnt/native/cpp/NTPIDController.cpp
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@@ -23,10 +23,12 @@ NTPIDControllerModel::NTPIDControllerModel(nt::NetworkTableInstance inst,
m_d{inst.GetDoubleTopic(fmt::format("{}/d", path)).GetEntry(0)},
m_setpoint{
inst.GetDoubleTopic(fmt::format("{}/setpoint", path)).GetEntry(0)},
m_iZone{inst.GetDoubleTopic(fmt::format("{}/izone", path)).GetEntry(0)},
m_pData{fmt::format("NTPIDCtrlP:{}", path)},
m_iData{fmt::format("NTPIDCtrlI:{}", path)},
m_dData{fmt::format("NTPIDCtrlD:{}", path)},
m_setpointData{fmt::format("NTPIDCtrlStpt:{}", path)},
m_iZoneData{fmt::format("NTPIDCtrlIZone:{}", path)},
m_nameValue{wpi::rsplit(path, '/').second} {}
void NTPIDControllerModel::SetP(double value) {
@@ -44,6 +46,9 @@ void NTPIDControllerModel::SetD(double value) {
void NTPIDControllerModel::SetSetpoint(double value) {
m_setpoint.Set(value);
}
void NTPIDControllerModel::SetIZone(double value) {
m_iZone.Set(value);
}
void NTPIDControllerModel::Update() {
for (auto&& v : m_name.ReadQueue()) {
@@ -61,6 +66,9 @@ void NTPIDControllerModel::Update() {
for (auto&& v : m_setpoint.ReadQueue()) {
m_setpointData.SetValue(v.value, v.time);
}
for (auto&& v : m_iZone.ReadQueue()) {
m_iZoneData.SetValue(v.value, v.time);
}
for (auto&& v : m_controllable.ReadQueue()) {
m_controllableValue = v.value;
}