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

[wpimath] ProfiledPIDController: Add to SendableRegistry (#4656)

Browse Source 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
This commit is contained in:
shueja-personal
2022-12-13 22:31:06 -08:00
committed by GitHub
parent c569d8e523
commit 7ba8a9ee1f
3 changed files with 10 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
View File

@@ -10,6 +10,7 @@ import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
/**
* Implements a PID control loop whose setpoint is constrained by a trapezoid profile. Users should
@@ -52,6 +53,8 @@ public class ProfiledPIDController implements Sendable {
m_controller = new PIDController(Kp, Ki, Kd, period);
m_constraints = constraints;
instances++;
SendableRegistry.add(this, "ProfiledPIDController", instances);
MathSharedStore.reportUsage(MathUsageId.kController_ProfiledPIDController, instances);
}