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Fix PIDController with Continous and no Input Range set. (#883)

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This commit is contained in:
sciencewhiz
2018-01-11 21:06:25 -08:00
committed by Peter Johnson
parent 02b6615042
commit 5513888457
2 changed files with 11 additions and 8 deletions
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13
wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
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@@ -550,12 +550,15 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
/**
* Set the PID controller to consider the input to be continuous, Rather then using the max and
* min in as constraints, it considers them to be the same point and automatically calculates the
* shortest route to the setpoint.
* min input range as constraints, it considers them to be the same point and automatically
* calculates the shortest route to the setpoint.
*
* @param continuous Set to true turns on continuous, false turns off continuous
*/
public void setContinuous(boolean continuous) {
if (m_inputRange <= 0) {
throw new RuntimeException("No input range set when calling setContinuous().");
}
m_thisMutex.lock();
try {
m_continuous = continuous;
@@ -566,8 +569,8 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
/**
* Set the PID controller to consider the input to be continuous, Rather then using the max and
* min in as constraints, it considers them to be the same point and automatically calculates the
* shortest route to the setpoint.
* min input range as constraints, it considers them to be the same point and automatically
* calculates the shortest route to the setpoint.
*/
public void setContinuous() {
setContinuous(true);
@@ -891,7 +894,7 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
* @return Error for continuous inputs.
*/
protected double getContinuousError(double error) {
if (m_continuous) {
if (m_continuous && m_inputRange > 0) {
error %= m_inputRange;
if (Math.abs(error) > m_inputRange / 2) {
if (error > 0) {