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Deprecated internal filter of PID controller (#746)

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This was replaced with an external LinearDigitalFilter.
This commit is contained in:
Tyler Veness
2017-12-04 20:05:02 -08:00
committed by Peter Johnson
parent b428d1e4b3
commit 59c4984ed6
5 changed files with 17 additions and 6 deletions
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2
wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
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@@ -589,8 +589,10 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
* erroneous measurements when the mechanism is on target. However, the mechanism will not
* register as on target for at least the specified bufLength cycles.
*
* @deprecated Use a LinearDigitalFilter as the input.
* @param bufLength Number of previous cycles to average.
*/
@Deprecated
public synchronized void setToleranceBuffer(int bufLength) {
m_filter = LinearDigitalFilter.movingAverage(m_origSource, bufLength);
m_pidInput = m_filter;