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[wpilib] separate expansion hub position and velocity constants (#8791)

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this is because position and velocity control follow different rules;
see #8773

Signed-off-by: Zach Harel <zach@zharel.me>
This commit is contained in:
Zach Harel
2026-04-23 20:40:52 -04:00
committed by GitHub
parent 44b9545f30
commit 7fc8845424
16 changed files with 458 additions and 191 deletions
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14
wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubMotor.cpp
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@@ -4,6 +4,8 @@
#include "wpi/hardware/expansionhub/ExpansionHubMotor.hpp"
#include "wpi/hardware/expansionhub/ExpansionHubPositionConstants.hpp"
#include "wpi/hardware/expansionhub/ExpansionHubVelocityConstants.hpp"
#include "wpi/system/Errors.hpp"
#include "wpi/system/SystemServer.hpp"
@@ -18,8 +20,8 @@ using namespace wpi;
ExpansionHubMotor::ExpansionHubMotor(int usbId, int channel)
: m_hub{usbId},
m_channel{channel},
m_velocityPidConstants{usbId, channel, true},
m_positionPidConstants{usbId, channel, false} {
m_velocityConstants{usbId, channel},
m_positionConstants{usbId, channel} {
WPILIB_AssertMessage(channel >= 0 && channel < ExpansionHub::NumMotorPorts,
"ExHub Motor Channel {} out of range", channel);
@@ -148,12 +150,12 @@ void ExpansionHubMotor::ResetEncoder() {
m_resetEncoderPublisher.Set(true);
}
ExpansionHubPidConstants& ExpansionHubMotor::GetVelocityPidConstants() {
return m_velocityPidConstants;
ExpansionHubVelocityConstants& ExpansionHubMotor::GetVelocityConstants() {
return m_velocityConstants;
}
ExpansionHubPidConstants& ExpansionHubMotor::GetPositionPidConstants() {
return m_positionPidConstants;
ExpansionHubPositionConstants& ExpansionHubMotor::GetPositionConstants() {
return m_positionConstants;
}
void ExpansionHubMotor::Follow(const ExpansionHubMotor& leader) {