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[wpimath] Move controller from wpilibj to wpimath (#3439)

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This commit is contained in:
Noam Zaks
2021-06-16 17:45:51 +03:00
committed by GitHub
parent 9ce9188ff6
commit 791770cf6e
64 changed files with 106 additions and 91 deletions
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6
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
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@@ -6,6 +6,9 @@ package edu.wpi.first.wpilibj2.command;
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.math.controller.HolonomicDriveController;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -15,9 +18,6 @@ import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.HolonomicDriveController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import java.util.function.Consumer;
import java.util.function.Supplier;

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
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@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj2.command;
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.math.controller.PIDController;
import java.util.Set;
import java.util.function.DoubleConsumer;
import java.util.function.DoubleSupplier;

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
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@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj2.command;
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.math.controller.PIDController;
/**
* A subsystem that uses a {@link PIDController} to control an output. The controller is run

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
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@@ -7,7 +7,7 @@ package edu.wpi.first.wpilibj2.command;
import static edu.wpi.first.math.trajectory.TrapezoidProfile.State;
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import java.util.Set;
import java.util.function.BiConsumer;
import java.util.function.DoubleSupplier;

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
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@@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj2.command;
import static edu.wpi.first.math.trajectory.TrapezoidProfile.State;
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
/**
* A subsystem that uses a {@link ProfiledPIDController} to control an output. The controller is run

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
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@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj2.command;
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
@@ -14,7 +15,6 @@ import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.PIDController;
import java.util.function.BiConsumer;
import java.util.function.Supplier;

6
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
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@@ -6,15 +6,15 @@ package edu.wpi.first.wpilibj2.command;
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.math.controller.HolonomicDriveController;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.HolonomicDriveController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import java.util.function.Consumer;
import java.util.function.Supplier;