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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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53
wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
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@@ -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