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Improve various subsystem APIs (#2130)

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Improves the APIs for various prebuilt subsystems (PIDSubsystem, TrapezoidProfileSubsystem, ProfiledPIDSubsystem). Addresses #2128, and also changes the rather cumbersome getSetpoint API to a more intuitive setSetpoint one. Updates examples to match.
This commit is contained in:
Oblarg
2019-11-26 00:46:47 -05:00
committed by Peter Johnson
parent ce3973435e
commit 6dcd2b0e2c
19 changed files with 184 additions and 204 deletions
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8
wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
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@@ -14,18 +14,22 @@ PIDSubsystem::PIDSubsystem(PIDController controller)
void PIDSubsystem::Periodic() {
if (m_enabled) {
UseOutput(m_controller.Calculate(GetMeasurement(), GetSetpoint()));
UseOutput(m_controller.Calculate(GetMeasurement(), m_setpoint), m_setpoint);
}
}
void PIDSubsystem::SetSetpoint(double setpoint) { m_setpoint = setpoint; }
void PIDSubsystem::Enable() {
m_controller.Reset();
m_enabled = true;
}
void PIDSubsystem::Disable() {
UseOutput(0);
UseOutput(0, 0);
m_enabled = false;
}
bool PIDSubsystem::IsEnabled() { return m_enabled; }
PIDController& PIDSubsystem::GetController() { return m_controller; }