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[wpimath] Deduplicate angle modulus functions (#2998)

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frc::NormalizeAngle(), units::math::NormalizeAngle(), and
frc::GetModulusError() were replaced with frc::InputModulus() and
frc::AngleModulus().

They were placed in wpimath/src/main/native/include/frc/MathUtil.h for
C++ and wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java
for Java.
This commit is contained in:
Tyler Veness
2021-01-01 16:22:00 -08:00
committed by GitHub
parent bf8c0da4be
commit 62f0f8190d
23 changed files with 210 additions and 219 deletions
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10
wpilibc/src/main/native/cpp/controller/PIDController.cpp
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@@ -9,7 +9,7 @@
#include <hal/FRCUsageReporting.h>
#include "frc/controller/ControllerUtil.h"
#include "frc/MathUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -69,8 +69,8 @@ double PIDController::GetSetpoint() const {
bool PIDController::AtSetpoint() const {
double positionError;
if (m_continuous) {
positionError = frc::GetModulusError<double>(
m_setpoint, m_measurement, m_minimumInput, m_maximumInput);
positionError = frc::InputModulus(m_setpoint - m_measurement,
m_minimumInput, m_maximumInput);
} else {
positionError = m_setpoint - m_measurement;
}
@@ -121,8 +121,8 @@ double PIDController::Calculate(double measurement) {
m_prevError = m_positionError;
if (m_continuous) {
m_positionError = frc::GetModulusError<double>(
m_setpoint, measurement, m_minimumInput, m_maximumInput);
m_positionError = frc::InputModulus(m_setpoint - measurement,
m_minimumInput, m_maximumInput);
} else {
m_positionError = m_setpoint - measurement;
}