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[wpimath] PIDController: Update field and method names for error and errorDerivative (#7088)

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This commit is contained in:
Nicholas Armstrong
2024-09-23 13:57:20 -04:00
committed by GitHub
parent 64e5e6db59
commit 6281ec0810
9 changed files with 192 additions and 91 deletions
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50
wpimath/src/main/native/include/frc/controller/PIDController.h
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@@ -121,18 +121,36 @@ class WPILIB_DLLEXPORT PIDController
*/
units::second_t GetPeriod() const;
/**
* Gets the error tolerance of this controller.
*
* @return The error tolerance of the controller.
*/
double GetErrorTolerance() const;
/**
* Gets the error derivative tolerance of this controller.
*
* @return The error derivative tolerance of the controller.
*/
double GetErrorDerivativeTolerance() const;
/**
* Gets the position tolerance of this controller.
*
* @return The position tolerance of the controller.
* @deprecated Use GetErrorTolerance() instead.
*/
[[deprecated("Use the GetErrorTolerance method instead.")]]
double GetPositionTolerance() const;
/**
* Gets the velocity tolerance of this controller.
*
* @return The velocity tolerance of the controller.
* @deprecated Use GetErrorDerivativeTolerance() instead.
*/
[[deprecated("Use the GetErrorDerivativeTolerance method instead.")]]
double GetVelocityTolerance() const;
/**
@@ -201,21 +219,35 @@ class WPILIB_DLLEXPORT PIDController
/**
* Sets the error which is considered tolerable for use with AtSetpoint().
*
* @param positionTolerance Position error which is tolerable.
* @param velocityTolerance Velocity error which is tolerable.
* @param errorTolerance error which is tolerable.
* @param errorDerivativeTolerance error derivative which is tolerable.
*/
void SetTolerance(
double positionTolerance,
double velocityTolerance = std::numeric_limits<double>::infinity());
void SetTolerance(double errorTolerance,
double errorDerivativeTolerance =
std::numeric_limits<double>::infinity());
/**
* Returns the difference between the setpoint and the measurement.
*/
double GetError() const;
/**
* Returns the error derivative.
*/
double GetErrorDerivative() const;
/**
* Returns the difference between the setpoint and the measurement.
* @deprecated Use GetError() instead.
*/
[[deprecated("Use GetError method instead.")]]
double GetPositionError() const;
/**
* Returns the velocity error.
* @deprecated Use GetErrorDerivative() instead.
*/
[[deprecated("Use GetErrorDerivative method instead.")]]
double GetVelocityError() const;
/**
@@ -268,8 +300,8 @@ class WPILIB_DLLEXPORT PIDController
bool m_continuous = false;
// The error at the time of the most recent call to Calculate()
double m_positionError = 0;
double m_velocityError = 0;
double m_error = 0;
double m_errorDerivative = 0;
// The error at the time of the second-most-recent call to Calculate() (used
// to compute velocity)
@@ -279,8 +311,8 @@ class WPILIB_DLLEXPORT PIDController
double m_totalError = 0;
// The error that is considered at setpoint.
double m_positionTolerance = 0.05;
double m_velocityTolerance = std::numeric_limits<double>::infinity();
double m_errorTolerance = 0.05;
double m_errorDerivativeTolerance = std::numeric_limits<double>::infinity();
double m_setpoint = 0;
double m_measurement = 0;