Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Improve various subsystem APIs (#2130)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

9
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
View File

@@ -37,14 +37,7 @@ class Elevator : public frc2::PIDSubsystem {
* by
* the subsystem.
*/
void UseOutput(double d) override;
double GetSetpoint() override;
/**
* Sets the setpoint for the subsystem.
*/
void SetSetpoint(double setpoint);
void UseOutput(double output, double setpoint) override;
private:
frc::PWMVictorSPX m_motor{5};

9
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
View File

@@ -35,14 +35,7 @@ class Wrist : public frc2::PIDSubsystem {
* by
* the subsystem.
*/
void UseOutput(double d) override;
double GetSetpoint() override;
/**
* Sets the setpoint for the subsystem.
*/
void SetSetpoint(double setpoint);
void UseOutput(double output, double setpoint) override;
private:
frc::PWMVictorSPX m_motor{6};