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

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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
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7
wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
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@@ -22,7 +22,7 @@
namespace frc {
namespace detail {
WPILIB_DLLEXPORT
void ReportProfiledPIDController();
int IncrementAndGetProfiledPIDControllerInstances();
} // namespace detail
/**
@@ -59,7 +59,10 @@ class ProfiledPIDController
ProfiledPIDController(double Kp, double Ki, double Kd,
Constraints constraints, units::second_t period = 20_ms)
: m_controller(Kp, Ki, Kd, period), m_constraints(constraints) {
detail::ReportProfiledPIDController();
int instances = detail::IncrementAndGetProfiledPIDControllerInstances();
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kController_ProfiledPIDController, instances);
wpi::SendableRegistry::Add(this, "ProfiledPIDController", instances);
}
~ProfiledPIDController() override = default;