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[wpimath] Fix case and order of HolonomicDriveController PID getters (#7342)

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This commit is contained in:
Tyler Veness
2024-11-05 08:50:17 -08:00
committed by GitHub
parent 9e8d37c03b
commit 63e623d70b
3 changed files with 54 additions and 17 deletions
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23
wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
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@@ -80,11 +80,6 @@ void HolonomicDriveController::SetEnabled(bool enabled) {
m_enabled = enabled;
}
ProfiledPIDController<units::radian>&
HolonomicDriveController::getThetaController() {
return m_thetaController;
}
PIDController& HolonomicDriveController::getXController() {
return m_xController;
}
@@ -92,3 +87,21 @@ PIDController& HolonomicDriveController::getXController() {
PIDController& HolonomicDriveController::getYController() {
return m_yController;
}
ProfiledPIDController<units::radian>&
HolonomicDriveController::getThetaController() {
return m_thetaController;
}
PIDController& HolonomicDriveController::GetXController() {
return m_xController;
}
PIDController& HolonomicDriveController::GetYController() {
return m_yController;
}
ProfiledPIDController<units::radian>&
HolonomicDriveController::GetThetaController() {
return m_thetaController;
}

30
wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
View File

@@ -104,19 +104,43 @@ class WPILIB_DLLEXPORT HolonomicDriveController {
void SetEnabled(bool enabled);
/**
* Returns the rotation ProfiledPIDController
* Returns the X PIDController
*
* @deprecated Use GetXController() instead.
*/
[[deprecated("Use GetXController() instead")]]
PIDController& getXController();
/**
* Returns the Y PIDController
*
* @deprecated Use GetYController() instead.
*/
[[deprecated("Use GetYController() instead")]]
PIDController& getYController();
/**
* Returns the rotation ProfiledPIDController
*
* @deprecated Use GetThetaController() instead.
*/
[[deprecated("Use GetThetaController() instead")]]
ProfiledPIDController<units::radian>& getThetaController();
/**
* Returns the X PIDController
*/
PIDController& getXController();
PIDController& GetXController();
/**
* Returns the Y PIDController
*/
PIDController& getYController();
PIDController& GetYController();
/**
* Returns the rotation ProfiledPIDController
*/
ProfiledPIDController<units::radian>& GetThetaController();
private:
Pose2d m_poseError;