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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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45
wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
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@@ -30,25 +30,11 @@ class PIDSubsystem : public SubsystemBase {
void Periodic() override;
/**
* Uses the output from the PIDController.
* Sets the setpoint for the subsystem.
*
* @param output the output of the PIDController
* @param setpoint the setpoint for the subsystem
*/
virtual void UseOutput(double output) = 0;
/**
* Returns the reference (setpoint) used by the PIDController.
*
* @return the reference (setpoint) to be used by the controller
*/
virtual double GetSetpoint() = 0;
/**
* Returns the measurement of the process variable used by the PIDController.
*
* @return the measurement of the process variable
*/
virtual double GetMeasurement() = 0;
void SetSetpoint(double setpoint);
/**
* Enables the PID control. Resets the controller.
@@ -60,6 +46,13 @@ class PIDSubsystem : public SubsystemBase {
*/
virtual void Disable();
/**
* Returns whether the controller is enabled.
*
* @return Whether the controller is enabled.
*/
bool IsEnabled();
/**
* Returns the PIDController.
*
@@ -70,5 +63,23 @@ class PIDSubsystem : public SubsystemBase {
protected:
PIDController m_controller;
bool m_enabled;
/**
* Returns the measurement of the process variable used by the PIDController.
*
* @return the measurement of the process variable
*/
virtual double GetMeasurement() = 0;
/**
* Uses the output from the PIDController.
*
* @param output the output of the PIDController
* @param setpoint the setpoint of the PIDController (for feedforward)
*/
virtual void UseOutput(double output, double setpoint) = 0;
private:
double m_setpoint{0};
};
} // namespace frc2

53
wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
View File

@@ -38,34 +38,24 @@ class ProfiledPIDSubsystem : public SubsystemBase {
void Periodic() override {
if (m_enabled) {
UseOutput(m_controller.Calculate(GetMeasurement(), GetGoal()),
UseOutput(m_controller.Calculate(GetMeasurement(), m_goal),
m_controller.GetSetpoint());
}
}
/**
* Uses the output from the ProfiledPIDController.
* Sets the goal state for the subsystem.
*
* @param output the output of the ProfiledPIDController
* @param setpoint the setpoint state of the ProfiledPIDController, for
* feedforward
* @param goal The goal state for the subsystem's motion profile.
*/
virtual void UseOutput(double output, State setpoint) = 0;
void SetGoal(State goal) { m_goal = goal; }
/**
* Returns the goal used by the ProfiledPIDController.
* Sets the goal state for the subsystem. Goal velocity assumed to be zero.
*
* @return the goal to be used by the controller
* @param goal The goal position for the subsystem's motion profile.
*/
virtual State GetGoal() = 0;
/**
* Returns the measurement of the process variable used by the
* ProfiledPIDController.
*
* @return the measurement of the process variable
*/
virtual Distance_t GetMeasurement() = 0;
void SetGoal(Distance_t goal) { m_goal = State{goal, Velocity_t(0)}; }
/**
* Enables the PID control. Resets the controller.
@@ -83,6 +73,13 @@ class ProfiledPIDSubsystem : public SubsystemBase {
m_enabled = false;
}
/**
* Returns whether the controller is enabled.
*
* @return Whether the controller is enabled.
*/
bool IsEnabled() { return m_enabled; }
/**
* Returns the ProfiledPIDController.
*
@@ -92,6 +89,26 @@ class ProfiledPIDSubsystem : public SubsystemBase {
protected:
frc::ProfiledPIDController<Distance> m_controller;
bool m_enabled;
bool m_enabled{false};
/**
* Returns the measurement of the process variable used by the
* ProfiledPIDController.
*
* @return the measurement of the process variable
*/
virtual Distance_t GetMeasurement() = 0;
/**
* Uses the output from the ProfiledPIDController.
*
* @param output the output of the ProfiledPIDController
* @param setpoint the setpoint state of the ProfiledPIDController, for
* feedforward
*/
virtual void UseOutput(double output, State setpoint) = 0;
private:
State m_goal;
};
} // namespace frc2

18
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
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@@ -41,22 +41,29 @@ class TrapezoidProfileSubsystem : public SubsystemBase {
units::second_t period = 20_ms)
: m_constraints(constraints),
m_state{position, Velocity_t(0)},
m_goal{position, Velocity_t{0}},
m_period(period) {}
void Periodic() override {
auto profile =
frc::TrapezoidProfile<Distance>(m_constraints, GetGoal(), m_state);
frc::TrapezoidProfile<Distance>(m_constraints, m_goal, m_state);
m_state = profile.Calculate(m_period);
UseState(m_state);
}
/**
* Users should override this to return the goal state for the subsystem's
* motion profile.
* Sets the goal state for the subsystem.
*
* @return The goal state for the subsystem's motion profile.
* @param goal The goal state for the subsystem's motion profile.
*/
virtual State GetGoal() = 0;
void SetGoal(State goal) { m_goal = goal; }
/**
* Sets the goal state for the subsystem. Goal velocity assumed to be zero.
*
* @param goal The goal position for the subsystem's motion profile.
*/
void SetGoal(Distance_t goal) { m_goal = State{goal, Velocity_t(0)}; }
protected:
/**
@@ -70,6 +77,7 @@ class TrapezoidProfileSubsystem : public SubsystemBase {
private:
Constraints m_constraints;
State m_state;
State m_goal;
units::second_t m_period;
};
} // namespace frc2