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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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22
wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
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@@ -17,32 +17,22 @@ ShooterSubsystem::ShooterSubsystem()
: PIDSubsystem(frc2::PIDController(kP, kI, kD)),
m_shooterMotor(kShooterMotorPort),
m_feederMotor(kFeederMotorPort),
m_shooterEncoder(kEncoderPorts[0], kEncoderPorts[1]) {
m_shooterEncoder(kEncoderPorts[0], kEncoderPorts[1]),
m_shooterFeedforward(kS, kV) {
m_controller.SetTolerance(kShooterToleranceRPS.to<double>());
m_shooterEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
SetSetpoint(kShooterTargetRPS.to<double>());
}
void ShooterSubsystem::UseOutput(double output) {
// Use a feedforward of the form kS + kV * velocity
m_shooterMotor.SetVoltage(units::volt_t(output) + kS +
kV * kShooterTargetRPS);
}
void ShooterSubsystem::Disable() {
// Turn off motor when we disable, since useOutput(0) doesn't stop the motor
// due to our feedforward
frc2::PIDSubsystem::Disable();
m_shooterMotor.Set(0);
void ShooterSubsystem::UseOutput(double output, double setpoint) {
m_shooterMotor.SetVoltage(units::volt_t(output) +
m_shooterFeedforward.Calculate(kShooterTargetRPS));
}
bool ShooterSubsystem::AtSetpoint() { return m_controller.AtSetpoint(); }
double ShooterSubsystem::GetMeasurement() { return m_shooterEncoder.GetRate(); }
double ShooterSubsystem::GetSetpoint() {
return kShooterTargetRPS.to<double>();
}
void ShooterSubsystem::RunFeeder() { m_feederMotor.Set(kFeederSpeed); }
void ShooterSubsystem::StopFeeder() { m_feederMotor.Set(0); }

9
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h
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@@ -9,20 +9,18 @@
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc2/command/PIDSubsystem.h>
#include <units/units.h>
class ShooterSubsystem : public frc2::PIDSubsystem {
public:
ShooterSubsystem();
void UseOutput(double output) override;
double GetSetpoint() override;
void UseOutput(double output, double setpoint) override;
double GetMeasurement() override;
void Disable() override;
bool AtSetpoint();
void RunFeeder();
@@ -33,4 +31,5 @@ class ShooterSubsystem : public frc2::PIDSubsystem {
frc::PWMVictorSPX m_shooterMotor;
frc::PWMVictorSPX m_feederMotor;
frc::Encoder m_shooterEncoder;
frc::SimpleMotorFeedforward<units::turns> m_shooterFeedforward;
};