Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Remove PIDController, PIDOutput, PIDSource

Browse Source 
Move them to the old commands vendordep so that PIDCommand and PIDSubsystem
continue to work.

This also removes Filter and LinearDigitalFilter.
This commit is contained in:
Peter Johnson
2021-03-12 15:41:52 -08:00
parent 3abe0b9d49
commit 6b168ab0c8
69 changed files with 30 additions and 1248 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
wpilibc/src/main/native/cpp/Ultrasonic.cpp
View File

@@ -26,47 +26,39 @@ std::atomic<bool> Ultrasonic::m_automaticEnabled{false};
std::vector<Ultrasonic*> Ultrasonic::m_sensors;
std::thread Ultrasonic::m_thread;
Ultrasonic::Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units)
Ultrasonic::Ultrasonic(int pingChannel, int echoChannel)
: m_pingChannel(std::make_shared<DigitalOutput>(pingChannel)),
m_echoChannel(std::make_shared<DigitalInput>(echoChannel)),
m_counter(m_echoChannel) {
m_units = units;
Initialize();
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, m_pingChannel.get());
registry.AddChild(this, m_echoChannel.get());
}
Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
DistanceUnit units)
Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel)
: m_pingChannel(pingChannel, NullDeleter<DigitalOutput>()),
m_echoChannel(echoChannel, NullDeleter<DigitalInput>()),
m_counter(m_echoChannel) {
if (pingChannel == nullptr || echoChannel == nullptr) {
wpi_setWPIError(NullParameter);
m_units = units;
return;
}
m_units = units;
Initialize();
}
Ultrasonic::Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel,
DistanceUnit units)
Ultrasonic::Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel)
: m_pingChannel(&pingChannel, NullDeleter<DigitalOutput>()),
m_echoChannel(&echoChannel, NullDeleter<DigitalInput>()),
m_counter(m_echoChannel) {
m_units = units;
Initialize();
}
Ultrasonic::Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
std::shared_ptr<DigitalInput> echoChannel,
DistanceUnit units)
std::shared_ptr<DigitalInput> echoChannel)
: m_pingChannel(std::move(pingChannel)),
m_echoChannel(std::move(echoChannel)),
m_counter(m_echoChannel) {
m_units = units;
Initialize();
}
@@ -164,31 +156,6 @@ void Ultrasonic::SetEnabled(bool enable) {
m_enabled = enable;
}
void Ultrasonic::SetDistanceUnits(DistanceUnit units) {
m_units = units;
}
Ultrasonic::DistanceUnit Ultrasonic::GetDistanceUnits() const {
return m_units;
}
double Ultrasonic::PIDGet() {
switch (m_units) {
case Ultrasonic::kInches:
return GetRangeInches();
case Ultrasonic::kMilliMeters:
return GetRangeMM();
default:
return 0.0;
}
}
void Ultrasonic::SetPIDSourceType(PIDSourceType pidSource) {
if (wpi_assert(pidSource == PIDSourceType::kDisplacement)) {
m_pidSource = pidSource;
}
}
void Ultrasonic::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Ultrasonic");
builder.AddDoubleProperty(