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Fix C++ PIDController SetToleranceBuffer and OnTarget locking.

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Also implement OnTarget fix in simulation PIDController.

Change-Id: Ic4b452759f80aa769a721f22cb6e732c2a9a213a
This commit is contained in:
Peter Johnson
2016-01-07 20:55:10 -08:00
parent ac27f4b644
commit 6b740e87b3
2 changed files with 5 additions and 4 deletions
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4
wpilibc/Athena/src/PIDController.cpp
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@@ -469,6 +469,7 @@ void PIDController::SetAbsoluteTolerance(float absTolerance) {
* @param bufLength Number of previous cycles to average. Defaults to 1.
*/
void PIDController::SetToleranceBuffer(unsigned bufLength) {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
m_bufLength = bufLength;
// Cut the buffer down to size if needed.
@@ -489,10 +490,9 @@ void PIDController::SetToleranceBuffer(unsigned bufLength) {
* This will return false until at least one input value has been computed.
*/
bool PIDController::OnTarget() const {
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
if (m_buf.size() == 0) return false;
double error = GetAvgError();
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
switch (m_toleranceType) {
case kPercentTolerance:
return fabs(error) < m_tolerance / 100 * (m_maximumInput - m_minimumInput);