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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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12
wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp
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@@ -18,10 +18,10 @@ ArmSubsystem::ArmSubsystem()
kP, 0, 0, {kMaxVelocity, kMaxAcceleration})),
m_motor(kMotorPort),
m_encoder(kEncoderPorts[0], kEncoderPorts[1]),
m_feedforward(kS, kCos, kV, kA),
// Start arm at rest in neutral position
m_goal{kArmOffset, 0_rad_per_s} {
m_feedforward(kS, kCos, kV, kA) {
m_encoder.SetDistancePerPulse(kEncoderDistancePerPulse.to<double>());
// Start arm in neutral position
SetGoal(State{kArmOffset, 0_rad_per_s});
}
void ArmSubsystem::UseOutput(double output, State setpoint) {
@@ -32,12 +32,6 @@ void ArmSubsystem::UseOutput(double output, State setpoint) {
m_motor.SetVoltage(units::volt_t(output) + feedforward);
}
void ArmSubsystem::SetGoal(units::radian_t goal) {
m_goal = State{goal, 0_rad_per_s};
}
State ArmSubsystem::GetGoal() { return m_goal; }
units::radian_t ArmSubsystem::GetMeasurement() {
return units::radian_t(m_encoder.GetDistance()) + kArmOffset;
}

6
wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h
View File

@@ -24,16 +24,10 @@ class ArmSubsystem : public frc2::ProfiledPIDSubsystem<units::radians> {
void UseOutput(double output, State setpoint) override;
void SetGoal(units::radian_t goal);
State GetGoal() override;
units::radian_t GetMeasurement() override;
private:
frc::PWMVictorSPX m_motor;
frc::Encoder m_encoder;
frc::ArmFeedforward m_feedforward;
State m_goal;
};