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[wpimath] Refactor TrapezoidProfile API (#5457)

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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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4
wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
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@@ -343,8 +343,8 @@ public class ProfiledPIDController implements Sendable {
m_setpoint.position = setpointMinDistance + measurement;
}
var profile = new TrapezoidProfile(m_constraints, m_goal, m_setpoint);
m_setpoint = profile.calculate(getPeriod());
var profile = new TrapezoidProfile(m_constraints);
m_setpoint = profile.calculate(getPeriod(), m_goal, m_setpoint);
return m_controller.calculate(measurement, m_setpoint.position);
}