Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

4
wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
View File

@@ -22,7 +22,7 @@ static constexpr units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
TEST(HolonomicDriveControllerTest, ReachesReference) {
frc::HolonomicDriveController controller{
frc2::PIDController{1.0, 0.0, 0.0}, frc2::PIDController{1.0, 0.0, 0.0},
frc::PIDController{1.0, 0.0, 0.0}, frc::PIDController{1.0, 0.0, 0.0},
frc::ProfiledPIDController<units::radian>{
1.0, 0.0, 0.0,
frc::TrapezoidProfile<units::radian>::Constraints{
@@ -54,7 +54,7 @@ TEST(HolonomicDriveControllerTest, ReachesReference) {
TEST(HolonomicDriveControllerTest, DoesNotRotateUnnecessarily) {
frc::HolonomicDriveController controller{
frc2::PIDController{1, 0, 0}, frc2::PIDController{1, 0, 0},
frc::PIDController{1, 0, 0}, frc::PIDController{1, 0, 0},
frc::ProfiledPIDController<units::radian>{
1, 0, 0,
frc::TrapezoidProfile<units::radian>::Constraints{

4
wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp
View File

@@ -8,9 +8,9 @@
class PIDInputOutputTest : public testing::Test {
protected:
frc2::PIDController* controller;
frc::PIDController* controller;
void SetUp() override { controller = new frc2::PIDController{0, 0, 0}; }
void SetUp() override { controller = new frc::PIDController{0, 0, 0}; }
void TearDown() override { delete controller; }
};

4
wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
View File

@@ -11,14 +11,14 @@ static constexpr double kRange = 200;
static constexpr double kTolerance = 10.0;
TEST(PIDToleranceTest, InitialTolerance) {
frc2::PIDController controller{0.5, 0.0, 0.0};
frc::PIDController controller{0.5, 0.0, 0.0};
controller.EnableContinuousInput(-kRange / 2, kRange / 2);
EXPECT_FALSE(controller.AtSetpoint());
}
TEST(PIDToleranceTest, AbsoluteTolerance) {
frc2::PIDController controller{0.5, 0.0, 0.0};
frc::PIDController controller{0.5, 0.0, 0.0};
controller.EnableContinuousInput(-kRange / 2, kRange / 2);
EXPECT_FALSE(controller.AtSetpoint());