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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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2
wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
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@@ -11,7 +11,7 @@
using namespace frc;
HolonomicDriveController::HolonomicDriveController(
frc2::PIDController xController, frc2::PIDController yController,
PIDController xController, PIDController yController,
ProfiledPIDController<units::radian> thetaController)
: m_xController(std::move(xController)),
m_yController(std::move(yController)),

6
wpimath/src/main/native/cpp/controller/PIDController.cpp
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@@ -13,7 +13,7 @@
#include "frc/MathUtil.h"
#include "wpimath/MathShared.h"
using namespace frc2;
using namespace frc;
PIDController::PIDController(double Kp, double Ki, double Kd,
units::second_t period)
@@ -95,7 +95,7 @@ void PIDController::SetSetpoint(double setpoint) {
if (m_continuous) {
double errorBound = (m_maximumInput - m_minimumInput) / 2.0;
m_positionError =
frc::InputModulus(m_setpoint - m_measurement, -errorBound, errorBound);
InputModulus(m_setpoint - m_measurement, -errorBound, errorBound);
} else {
m_positionError = m_setpoint - m_measurement;
}
@@ -156,7 +156,7 @@ double PIDController::Calculate(double measurement) {
if (m_continuous) {
double errorBound = (m_maximumInput - m_minimumInput) / 2.0;
m_positionError =
frc::InputModulus(m_setpoint - m_measurement, -errorBound, errorBound);
InputModulus(m_setpoint - m_measurement, -errorBound, errorBound);
} else {
m_positionError = m_setpoint - m_measurement;
}

6
wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
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@@ -42,7 +42,7 @@ class WPILIB_DLLEXPORT HolonomicDriveController {
* angle.
*/
HolonomicDriveController(
frc2::PIDController xController, frc2::PIDController yController,
PIDController xController, PIDController yController,
ProfiledPIDController<units::radian> thetaController);
HolonomicDriveController(const HolonomicDriveController&) = default;
@@ -124,8 +124,8 @@ class WPILIB_DLLEXPORT HolonomicDriveController {
Pose2d m_poseTolerance;
bool m_enabled = true;
frc2::PIDController m_xController;
frc2::PIDController m_yController;
PIDController m_xController;
PIDController m_yController;
ProfiledPIDController<units::radian> m_thetaController;
bool m_firstRun = true;

8
wpimath/src/main/native/include/frc/controller/PIDController.h
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@@ -13,7 +13,7 @@
#include "units/time.h"
namespace frc2 {
namespace frc {
/**
* Implements a PID control loop.
@@ -279,10 +279,4 @@ class WPILIB_DLLEXPORT PIDController
bool m_haveMeasurement = false;
};
} // namespace frc2
namespace frc {
using frc2::PIDController;
} // namespace frc

2
wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
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@@ -405,7 +405,7 @@ class ProfiledPIDController
}
private:
frc2::PIDController m_controller;
PIDController m_controller;
Distance_t m_minimumInput{0};
Distance_t m_maximumInput{0};
typename frc::TrapezoidProfile<Distance>::State m_goal;