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[wpimath] Add constraints support to ProfiledPIDController Sendable implementation (#6354)

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This commit is contained in:
Ryan Blue
2024-05-24 13:39:56 -04:00
committed by GitHub
parent badd090538
commit 65f4505e3c
6 changed files with 87 additions and 17 deletions
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12
wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
View File

@@ -444,6 +444,18 @@ public class ProfiledPIDController implements Sendable {
MathSharedStore.reportError("IZone must be a non-negative number!", e.getStackTrace());
}
});
builder.addDoubleProperty(
"maxVelocity",
() -> getConstraints().maxVelocity,
maxVelocity ->
setConstraints(
new TrapezoidProfile.Constraints(maxVelocity, getConstraints().maxAcceleration)));
builder.addDoubleProperty(
"maxAcceleration",
() -> getConstraints().maxAcceleration,
maxAcceleration ->
setConstraints(
new TrapezoidProfile.Constraints(getConstraints().maxVelocity, maxAcceleration)));
builder.addDoubleProperty("goal", () -> getGoal().position, this::setGoal);
}
}

13
wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
View File

@@ -404,6 +404,19 @@ class ProfiledPIDController
builder.AddDoubleProperty(
"izone", [this] { return GetIZone(); },
[this](double value) { SetIZone(value); });
builder.AddDoubleProperty(
"maxVelocity", [this] { return GetConstraints().maxVelocity.value(); },
[this](double value) {
SetConstraints(
Constraints{Velocity_t{value}, GetConstraints().maxAcceleration});
});
builder.AddDoubleProperty(
"maxAcceleration",
[this] { return GetConstraints().maxAcceleration.value(); },
[this](double value) {
SetConstraints(
Constraints{GetConstraints().maxVelocity, Acceleration_t{value}});
});
builder.AddDoubleProperty(
"goal", [this] { return GetGoal().position.value(); },
[this](double value) { SetGoal(Distance_t{value}); });