Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fix C++ PIDController SetToleranceBuffer and OnTarget locking.

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

5
wpilibc/simulation/src/PIDController.cpp
View File

@@ -500,6 +500,7 @@ 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> lock(m_mutex);
m_bufLength = bufLength;
// Cut the buffer down to size if needed.
@@ -518,9 +519,9 @@ void PIDController::SetToleranceBuffer(unsigned bufLength) {
*/
bool PIDController::OnTarget() const
{
double error = GetError();
std::lock_guard<priority_recursive_mutex> sync(m_mutex);
if (m_buf.size() == 0) return false;
double error = GetError();
switch (m_toleranceType) {
case kPercentTolerance:
return fabs(error) < m_tolerance / 100 * (m_maximumInput - m_minimumInput);