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[wpimath] Refactor TrapezoidProfile API (#5457)

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This commit is contained in:
Gold856
2023-07-19 20:25:10 -04:00
committed by GitHub
parent 72a4543493
commit 86e91e6724
24 changed files with 492 additions and 184 deletions
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8
wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
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@@ -33,14 +33,12 @@ class Robot : public frc::TimedRobot {
}
// Create a motion profile with the given maximum velocity and maximum
// acceleration constraints for the next setpoint, the desired goal, and the
// current setpoint.
frc::TrapezoidProfile<units::meters> profile{m_constraints, m_goal,
m_setpoint};
// acceleration constraints for the next setpoint.
frc::TrapezoidProfile<units::meters> profile{m_constraints};
// Retrieve the profiled setpoint for the next timestep. This setpoint moves
// toward the goal while obeying the constraints.
m_setpoint = profile.Calculate(kDt);
m_setpoint = profile.Calculate(kDt, m_goal, m_setpoint);
// Send setpoint to offboard controller PID
m_motor.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,