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Replaced floats with doubles (#355)

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This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
This commit is contained in:
Tyler Veness
2016-11-20 07:25:03 -08:00
committed by Peter Johnson
parent 7bcd243ec3
commit 69422dc063
129 changed files with 643 additions and 639 deletions
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34
wpilibc/athena/src/PIDController.cpp
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@@ -36,9 +36,9 @@ static const std::string kEnabled = "enabled";
* effects calculations of the integral and differental terms.
* The default is 50ms.
*/
PIDController::PIDController(float Kp, float Ki, float Kd, PIDSource* source,
PIDOutput* output, float period)
: PIDController(Kp, Ki, Kd, 0.0f, source, output, period) {}
PIDController::PIDController(double Kp, double Ki, double Kd, PIDSource* source,
PIDOutput* output, double period)
: PIDController(Kp, Ki, Kd, 0.0, source, output, period) {}
/**
* Allocate a PID object with the given constants for P, I, D.
@@ -52,9 +52,9 @@ PIDController::PIDController(float Kp, float Ki, float Kd, PIDSource* source,
* effects calculations of the integral and differental terms.
* The default is 50ms.
*/
PIDController::PIDController(float Kp, float Ki, float Kd, float Kf,
PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
PIDSource* source, PIDOutput* output,
float period) {
double period) {
m_controlLoop = std::make_unique<Notifier>(&PIDController::Calculate, this);
m_P = Kp;
@@ -101,8 +101,8 @@ void PIDController::Calculate() {
if (enabled) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
float input = pidInput->PIDGet();
float result;
double input = pidInput->PIDGet();
double result;
PIDOutput* pidOutput;
m_error = GetContinuousError(m_setpoint - input);
@@ -284,7 +284,7 @@ double PIDController::GetF() const {
*
* @return the latest calculated output
*/
float PIDController::Get() const {
double PIDController::Get() const {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
return m_result;
}
@@ -309,7 +309,7 @@ void PIDController::SetContinuous(bool continuous) {
* @param minimumInput the minimum value expected from the input
* @param maximumInput the maximum value expected from the output
*/
void PIDController::SetInputRange(float minimumInput, float maximumInput) {
void PIDController::SetInputRange(double minimumInput, double maximumInput) {
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
m_minimumInput = minimumInput;
@@ -325,7 +325,7 @@ void PIDController::SetInputRange(float minimumInput, float maximumInput) {
* @param minimumOutput the minimum value to write to the output
* @param maximumOutput the maximum value to write to the output
*/
void PIDController::SetOutputRange(float minimumOutput, float maximumOutput) {
void PIDController::SetOutputRange(double minimumOutput, double maximumOutput) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
m_minimumOutput = minimumOutput;
m_maximumOutput = maximumOutput;
@@ -338,7 +338,7 @@ void PIDController::SetOutputRange(float minimumOutput, float maximumOutput) {
*
* @param setpoint the desired setpoint
*/
void PIDController::SetSetpoint(float setpoint) {
void PIDController::SetSetpoint(double setpoint) {
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
@@ -388,7 +388,7 @@ double PIDController::GetDeltaSetpoint() const {
*
* @return the current error
*/
float PIDController::GetError() const {
double PIDController::GetError() const {
double setpoint = GetSetpoint();
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
@@ -419,8 +419,8 @@ PIDSourceType PIDController::GetPIDSourceType() const {
*
* @return the average error
*/
float PIDController::GetAvgError() const {
float avgError = 0;
double PIDController::GetAvgError() const {
double avgError = 0;
{
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
// Don't divide by zero.
@@ -435,7 +435,7 @@ float PIDController::GetAvgError() const {
*
* @param percentage error which is tolerable
*/
void PIDController::SetTolerance(float percent) {
void PIDController::SetTolerance(double percent) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
m_toleranceType = kPercentTolerance;
m_tolerance = percent;
@@ -447,7 +447,7 @@ void PIDController::SetTolerance(float percent) {
*
* @param percentage error which is tolerable
*/
void PIDController::SetAbsoluteTolerance(float absTolerance) {
void PIDController::SetAbsoluteTolerance(double absTolerance) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
m_toleranceType = kAbsoluteTolerance;
m_tolerance = absTolerance;
@@ -459,7 +459,7 @@ void PIDController::SetAbsoluteTolerance(float absTolerance) {
*
* @param percentage error which is tolerable
*/
void PIDController::SetPercentTolerance(float percent) {
void PIDController::SetPercentTolerance(double percent) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
m_toleranceType = kPercentTolerance;
m_tolerance = percent;