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Replaced PIDController::Initialize() with delegating constructors (#178)

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This commit is contained in:
Tyler Veness
2016-07-16 12:50:17 -07:00
committed by Peter Johnson
parent 7ddc153623
commit 57efd13f7f
3 changed files with 4 additions and 21 deletions
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11
wpilibc/athena/src/PIDController.cpp
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@@ -35,9 +35,8 @@ static const std::string kEnabled = "enabled";
* The default is 50ms.
*/
PIDController::PIDController(float Kp, float Ki, float Kd, PIDSource* source,
PIDOutput* output, float period) {
Initialize(Kp, Ki, Kd, 0.0f, source, output, period);
}
PIDOutput* output, float period)
: PIDController(Kp, Ki, Kd, 0.0f, source, output, period) {}
/**
* Allocate a PID object with the given constants for P, I, D.
@@ -54,12 +53,6 @@ PIDController::PIDController(float Kp, float Ki, float Kd, PIDSource* source,
PIDController::PIDController(float Kp, float Ki, float Kd, float Kf,
PIDSource* source, PIDOutput* output,
float period) {
Initialize(Kp, Ki, Kd, Kf, source, output, period);
}
void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
PIDSource* source, PIDOutput* output,
float period) {
m_controlLoop = std::make_unique<Notifier>(&PIDController::Calculate, this);
m_P = Kp;