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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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56
wpilibc/shared/include/PIDController.h
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@@ -39,19 +39,19 @@ class PIDController : public LiveWindowSendable,
public PIDInterface,
public ITableListener {
public:
PIDController(float p, float i, float d, PIDSource* source, PIDOutput* output,
float period = 0.05);
PIDController(float p, float i, float d, float f, PIDSource* source,
PIDOutput* output, float period = 0.05);
PIDController(double p, double i, double d, PIDSource* source,
PIDOutput* output, double period = 0.05);
PIDController(double p, double i, double d, double f, PIDSource* source,
PIDOutput* output, double period = 0.05);
virtual ~PIDController();
PIDController(const PIDController&) = delete;
PIDController& operator=(const PIDController) = delete;
virtual float Get() const;
virtual double Get() const;
virtual void SetContinuous(bool continuous = true);
virtual void SetInputRange(float minimumInput, float maximumInput);
virtual void SetOutputRange(float minimumOutput, float maximumOutput);
virtual void SetInputRange(double minimumInput, double maximumInput);
virtual void SetOutputRange(double minimumOutput, double maximumOutput);
void SetPID(double p, double i, double d) override;
virtual void SetPID(double p, double i, double d, double f);
double GetP() const override;
@@ -59,19 +59,19 @@ class PIDController : public LiveWindowSendable,
double GetD() const override;
virtual double GetF() const;
void SetSetpoint(float setpoint) override;
void SetSetpoint(double setpoint) override;
double GetSetpoint() const override;
double GetDeltaSetpoint() const;
virtual float GetError() const;
virtual float GetAvgError() const;
virtual double GetError() const;
virtual double GetAvgError() const;
virtual void SetPIDSourceType(PIDSourceType pidSource);
virtual PIDSourceType GetPIDSourceType() const;
virtual void SetTolerance(float percent);
virtual void SetAbsoluteTolerance(float absValue);
virtual void SetPercentTolerance(float percentValue);
virtual void SetTolerance(double percent);
virtual void SetAbsoluteTolerance(double absValue);
virtual void SetPercentTolerance(double percentValue);
virtual void SetToleranceBuffer(int buf = 1);
virtual bool OnTarget() const;
@@ -94,27 +94,27 @@ class PIDController : public LiveWindowSendable,
private:
// factor for "proportional" control
float m_P;
double m_P;
// factor for "integral" control
float m_I;
double m_I;
// factor for "derivative" control
float m_D;
double m_D;
// factor for "feed forward" control
float m_F;
double m_F;
// |maximum output|
float m_maximumOutput = 1.0;
double m_maximumOutput = 1.0;
// |minimum output|
float m_minimumOutput = -1.0;
double m_minimumOutput = -1.0;
// maximum input - limit setpoint to this
float m_maximumInput = 0;
double m_maximumInput = 0;
// minimum input - limit setpoint to this
float m_minimumInput = 0;
double m_minimumInput = 0;
// do the endpoints wrap around? eg. Absolute encoder
bool m_continuous = false;
// is the pid controller enabled
bool m_enabled = false;
// the prior error (used to compute velocity)
float m_prevError = 0;
double m_prevError = 0;
// the sum of the errors for use in the integral calc
double m_totalError = 0;
enum {
@@ -124,12 +124,12 @@ class PIDController : public LiveWindowSendable,
} m_toleranceType = kNoTolerance;
// the percetage or absolute error that is considered on target.
float m_tolerance = 0.05;
float m_setpoint = 0;
float m_prevSetpoint = 0;
float m_error = 0;
float m_result = 0;
float m_period;
double m_tolerance = 0.05;
double m_setpoint = 0;
double m_prevSetpoint = 0;
double m_error = 0;
double m_result = 0;
double m_period;
// Length of buffer for averaging for tolerances.
std::atomic<unsigned> m_bufLength{1};