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PIDController class now uses LinearDigitalFilter for filtering velocity instead of internal queue (#38)

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This commit is contained in:
Tyler Veness
2017-11-19 15:58:30 -08:00
committed by Peter Johnson
parent 7f46b50b21
commit 4a07f0380f
8 changed files with 48 additions and 125 deletions
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2
wpilibc/src/main/native/include/Filters/Filter.h
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@@ -23,7 +23,7 @@ class Filter : public PIDSource {
// PIDSource interface
void SetPIDSourceType(PIDSourceType pidSource) override;
PIDSourceType GetPIDSourceType() const;
PIDSourceType GetPIDSourceType() const override;
double PIDGet() override = 0;
/**

10
wpilibc/src/main/native/include/PIDController.h
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@@ -9,13 +9,13 @@
#include <atomic>
#include <memory>
#include <queue>
#include <string>
#include <support/mutex.h>
#include "Base.h"
#include "Controller.h"
#include "Filters/LinearDigitalFilter.h"
#include "LiveWindow/LiveWindow.h"
#include "Notifier.h"
#include "PIDInterface.h"
@@ -64,7 +64,6 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
double GetDeltaSetpoint() const;
virtual double GetError() const;
virtual double GetAvgError() const;
virtual void SetPIDSourceType(PIDSourceType pidSource);
virtual PIDSourceType GetPIDSourceType() const;
@@ -156,11 +155,8 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
double m_result = 0;
double m_period;
// Length of buffer for averaging for tolerances.
std::atomic<unsigned> m_bufLength{1};
std::queue<double> m_buf;
double m_bufTotal = 0;
std::shared_ptr<PIDSource> m_origSource;
LinearDigitalFilter m_filter{nullptr, {}, {}};
mutable wpi::mutex m_mutex;

2
wpilibc/src/main/native/include/PIDSource.h
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@@ -20,7 +20,7 @@ enum class PIDSourceType { kDisplacement, kRate };
class PIDSource {
public:
virtual void SetPIDSourceType(PIDSourceType pidSource);
PIDSourceType GetPIDSourceType() const;
virtual PIDSourceType GetPIDSourceType() const;
virtual double PIDGet() = 0;
protected: