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[wpimath] Move PIDController from frc2 to frc namespace (#5640)

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The old PIDController class in the frc namespace was removed for the
2023 season.
This commit is contained in:
Tyler Veness
2023-09-15 19:57:31 -07:00
committed by GitHub
parent 494cfd78c1
commit 4bac4dd0f4
50 changed files with 189 additions and 193 deletions
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96
wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
View File

@@ -11,16 +11,16 @@ using namespace frc2;
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::SimpleMotorFeedforward<units::meters> feedforward,
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
frc2::PIDController yController,
frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
frc::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
std::function<frc::Rotation2d()> desiredRotation,
units::meters_per_second_t maxWheelVelocity,
std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
frc2::PIDController frontLeftController,
frc2::PIDController rearLeftController,
frc2::PIDController frontRightController,
frc2::PIDController rearRightController,
frc::PIDController frontLeftController,
frc::PIDController rearLeftController,
frc::PIDController frontRightController,
frc::PIDController rearRightController,
std::function<void(units::volt_t, units::volt_t, units::volt_t,
units::volt_t)>
output,
@@ -33,13 +33,13 @@ MecanumControllerCommand::MecanumControllerCommand(
m_desiredRotation(std::move(desiredRotation)),
m_maxWheelVelocity(maxWheelVelocity),
m_frontLeftController(
std::make_unique<frc2::PIDController>(frontLeftController)),
std::make_unique<frc::PIDController>(frontLeftController)),
m_rearLeftController(
std::make_unique<frc2::PIDController>(rearLeftController)),
std::make_unique<frc::PIDController>(rearLeftController)),
m_frontRightController(
std::make_unique<frc2::PIDController>(frontRightController)),
std::make_unique<frc::PIDController>(frontRightController)),
m_rearRightController(
std::make_unique<frc2::PIDController>(rearRightController)),
std::make_unique<frc::PIDController>(rearRightController)),
m_currentWheelSpeeds(std::move(currentWheelSpeeds)),
m_outputVolts(std::move(output)),
m_usePID(true) {
@@ -49,15 +49,15 @@ MecanumControllerCommand::MecanumControllerCommand(
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::SimpleMotorFeedforward<units::meters> feedforward,
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
frc2::PIDController yController,
frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
frc::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
units::meters_per_second_t maxWheelVelocity,
std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
frc2::PIDController frontLeftController,
frc2::PIDController rearLeftController,
frc2::PIDController frontRightController,
frc2::PIDController rearRightController,
frc::PIDController frontLeftController,
frc::PIDController rearLeftController,
frc::PIDController frontRightController,
frc::PIDController rearRightController,
std::function<void(units::volt_t, units::volt_t, units::volt_t,
units::volt_t)>
output,
@@ -69,13 +69,13 @@ MecanumControllerCommand::MecanumControllerCommand(
m_controller(xController, yController, thetaController),
m_maxWheelVelocity(maxWheelVelocity),
m_frontLeftController(
std::make_unique<frc2::PIDController>(frontLeftController)),
std::make_unique<frc::PIDController>(frontLeftController)),
m_rearLeftController(
std::make_unique<frc2::PIDController>(rearLeftController)),
std::make_unique<frc::PIDController>(rearLeftController)),
m_frontRightController(
std::make_unique<frc2::PIDController>(frontRightController)),
std::make_unique<frc::PIDController>(frontRightController)),
m_rearRightController(
std::make_unique<frc2::PIDController>(rearRightController)),
std::make_unique<frc::PIDController>(rearRightController)),
m_currentWheelSpeeds(std::move(currentWheelSpeeds)),
m_outputVolts(std::move(output)),
m_usePID(true) {
@@ -85,16 +85,16 @@ MecanumControllerCommand::MecanumControllerCommand(
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::SimpleMotorFeedforward<units::meters> feedforward,
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
frc2::PIDController yController,
frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
frc::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
std::function<frc::Rotation2d()> desiredRotation,
units::meters_per_second_t maxWheelVelocity,
std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
frc2::PIDController frontLeftController,
frc2::PIDController rearLeftController,
frc2::PIDController frontRightController,
frc2::PIDController rearRightController,
frc::PIDController frontLeftController,
frc::PIDController rearLeftController,
frc::PIDController frontRightController,
frc::PIDController rearRightController,
std::function<void(units::volt_t, units::volt_t, units::volt_t,
units::volt_t)>
output,
@@ -107,13 +107,13 @@ MecanumControllerCommand::MecanumControllerCommand(
m_desiredRotation(std::move(desiredRotation)),
m_maxWheelVelocity(maxWheelVelocity),
m_frontLeftController(
std::make_unique<frc2::PIDController>(frontLeftController)),
std::make_unique<frc::PIDController>(frontLeftController)),
m_rearLeftController(
std::make_unique<frc2::PIDController>(rearLeftController)),
std::make_unique<frc::PIDController>(rearLeftController)),
m_frontRightController(
std::make_unique<frc2::PIDController>(frontRightController)),
std::make_unique<frc::PIDController>(frontRightController)),
m_rearRightController(
std::make_unique<frc2::PIDController>(rearRightController)),
std::make_unique<frc::PIDController>(rearRightController)),
m_currentWheelSpeeds(std::move(currentWheelSpeeds)),
m_outputVolts(std::move(output)),
m_usePID(true) {
@@ -123,15 +123,15 @@ MecanumControllerCommand::MecanumControllerCommand(
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::SimpleMotorFeedforward<units::meters> feedforward,
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
frc2::PIDController yController,
frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
frc::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
units::meters_per_second_t maxWheelVelocity,
std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
frc2::PIDController frontLeftController,
frc2::PIDController rearLeftController,
frc2::PIDController frontRightController,
frc2::PIDController rearRightController,
frc::PIDController frontLeftController,
frc::PIDController rearLeftController,
frc::PIDController frontRightController,
frc::PIDController rearRightController,
std::function<void(units::volt_t, units::volt_t, units::volt_t,
units::volt_t)>
output,
@@ -143,13 +143,13 @@ MecanumControllerCommand::MecanumControllerCommand(
m_controller(xController, yController, thetaController),
m_maxWheelVelocity(maxWheelVelocity),
m_frontLeftController(
std::make_unique<frc2::PIDController>(frontLeftController)),
std::make_unique<frc::PIDController>(frontLeftController)),
m_rearLeftController(
std::make_unique<frc2::PIDController>(rearLeftController)),
std::make_unique<frc::PIDController>(rearLeftController)),
m_frontRightController(
std::make_unique<frc2::PIDController>(frontRightController)),
std::make_unique<frc::PIDController>(frontRightController)),
m_rearRightController(
std::make_unique<frc2::PIDController>(rearRightController)),
std::make_unique<frc::PIDController>(rearRightController)),
m_currentWheelSpeeds(std::move(currentWheelSpeeds)),
m_outputVolts(std::move(output)),
m_usePID(true) {
@@ -158,8 +158,8 @@ MecanumControllerCommand::MecanumControllerCommand(
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
frc2::PIDController yController,
frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
frc::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
std::function<frc::Rotation2d()> desiredRotation,
units::meters_per_second_t maxWheelVelocity,
@@ -180,8 +180,8 @@ MecanumControllerCommand::MecanumControllerCommand(
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
frc2::PIDController yController,
frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
frc::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
units::meters_per_second_t maxWheelVelocity,
std::function<void(units::meters_per_second_t, units::meters_per_second_t,
@@ -200,8 +200,8 @@ MecanumControllerCommand::MecanumControllerCommand(
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
frc2::PIDController yController,
frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
frc::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
std::function<frc::Rotation2d()> desiredRotation,
units::meters_per_second_t maxWheelVelocity,
@@ -222,8 +222,8 @@ MecanumControllerCommand::MecanumControllerCommand(
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
frc2::PIDController yController,
frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
frc::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
units::meters_per_second_t maxWheelVelocity,
std::function<void(units::meters_per_second_t, units::meters_per_second_t,

10
wpilibNewCommands/src/main/native/cpp/frc2/command/PIDCommand.cpp
View File

@@ -8,7 +8,7 @@
using namespace frc2;
PIDCommand::PIDCommand(PIDController controller,
PIDCommand::PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource,
std::function<double()> setpointSource,
std::function<void(double)> useOutput,
@@ -20,7 +20,7 @@ PIDCommand::PIDCommand(PIDController controller,
AddRequirements(requirements);
}
PIDCommand::PIDCommand(PIDController controller,
PIDCommand::PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource,
std::function<double()> setpointSource,
std::function<void(double)> useOutput,
@@ -32,7 +32,7 @@ PIDCommand::PIDCommand(PIDController controller,
AddRequirements(requirements);
}
PIDCommand::PIDCommand(PIDController controller,
PIDCommand::PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource,
double setpoint, std::function<void(double)> useOutput,
std::initializer_list<Subsystem*> requirements)
@@ -40,7 +40,7 @@ PIDCommand::PIDCommand(PIDController controller,
controller, measurementSource, [setpoint] { return setpoint; },
useOutput, requirements) {}
PIDCommand::PIDCommand(PIDController controller,
PIDCommand::PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource,
double setpoint, std::function<void(double)> useOutput,
std::span<Subsystem* const> requirements)
@@ -60,6 +60,6 @@ void PIDCommand::End(bool interrupted) {
m_useOutput(0);
}
PIDController& PIDCommand::GetController() {
frc::PIDController& PIDCommand::GetController() {
return m_controller;
}

5
wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
View File

@@ -8,7 +8,8 @@
using namespace frc2;
PIDSubsystem::PIDSubsystem(PIDController controller, double initialPosition)
PIDSubsystem::PIDSubsystem(frc::PIDController controller,
double initialPosition)
: m_controller{std::move(controller)} {
SetSetpoint(initialPosition);
AddChild("PID Controller", &m_controller);
@@ -42,6 +43,6 @@ bool PIDSubsystem::IsEnabled() {
return m_enabled;
}
PIDController& PIDSubsystem::GetController() {
frc::PIDController& PIDSubsystem::GetController() {
return m_controller;
}

12
wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
View File

@@ -16,7 +16,7 @@ RamseteCommand::RamseteCommand(
frc::SimpleMotorFeedforward<units::meters> feedforward,
frc::DifferentialDriveKinematics kinematics,
std::function<frc::DifferentialDriveWheelSpeeds()> wheelSpeeds,
frc2::PIDController leftController, frc2::PIDController rightController,
frc::PIDController leftController, frc::PIDController rightController,
std::function<void(units::volt_t, units::volt_t)> output,
std::initializer_list<Subsystem*> requirements)
: m_trajectory(std::move(trajectory)),
@@ -25,8 +25,8 @@ RamseteCommand::RamseteCommand(
m_feedforward(feedforward),
m_kinematics(std::move(kinematics)),
m_speeds(std::move(wheelSpeeds)),
m_leftController(std::make_unique<frc2::PIDController>(leftController)),
m_rightController(std::make_unique<frc2::PIDController>(rightController)),
m_leftController(std::make_unique<frc::PIDController>(leftController)),
m_rightController(std::make_unique<frc::PIDController>(rightController)),
m_outputVolts(std::move(output)),
m_usePID(true) {
AddRequirements(requirements);
@@ -38,7 +38,7 @@ RamseteCommand::RamseteCommand(
frc::SimpleMotorFeedforward<units::meters> feedforward,
frc::DifferentialDriveKinematics kinematics,
std::function<frc::DifferentialDriveWheelSpeeds()> wheelSpeeds,
frc2::PIDController leftController, frc2::PIDController rightController,
frc::PIDController leftController, frc::PIDController rightController,
std::function<void(units::volt_t, units::volt_t)> output,
std::span<Subsystem* const> requirements)
: m_trajectory(std::move(trajectory)),
@@ -47,8 +47,8 @@ RamseteCommand::RamseteCommand(
m_feedforward(feedforward),
m_kinematics(std::move(kinematics)),
m_speeds(std::move(wheelSpeeds)),
m_leftController(std::make_unique<frc2::PIDController>(leftController)),
m_rightController(std::make_unique<frc2::PIDController>(rightController)),
m_leftController(std::make_unique<frc::PIDController>(leftController)),
m_rightController(std::make_unique<frc::PIDController>(rightController)),
m_outputVolts(std::move(output)),
m_usePID(true) {
AddRequirements(requirements);