From 5f33d6af12c1a23459cdf44f0597f6ba87c2ed7d Mon Sep 17 00:00:00 2001 From: Oblarg Date: Sat, 9 Nov 2019 12:16:50 -0500 Subject: [PATCH] Fix ProfiledPIDSubsystem parameter name (#2017) Change from goal to setpoint (these are two different things). --- .../wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java | 6 +++--- .../main/native/include/frc2/command/ProfiledPIDSubsystem.h | 4 +++- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java index ecd33719cc..bf161fe738 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java @@ -44,10 +44,10 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase { /** * Uses the output from the ProfiledPIDController. * - * @param output the output of the ProfiledPIDController - * @param goal the goal state of the ProfiledPIDController, for feedforward + * @param output the output of the ProfiledPIDController + * @param setpoint the setpoint state of the ProfiledPIDController, for feedforward */ - public abstract void useOutput(double output, State goal); + public abstract void useOutput(double output, State setpoint); /** * Returns the goal used by the ProfiledPIDController. diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h index 5b2aaf7e15..02497dee01 100644 --- a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h +++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h @@ -36,8 +36,10 @@ class ProfiledPIDSubsystem : public SubsystemBase { * Uses the output from the ProfiledPIDController. * * @param output the output of the ProfiledPIDController + * @param setpoint the setpoint state of the ProfiledPIDController, for + * feedforward */ - virtual void UseOutput(double output, State state) = 0; + virtual void UseOutput(double output, State setpoint) = 0; /** * Returns the goal used by the ProfiledPIDController.