Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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);
}
}