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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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wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
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@@ -317,8 +317,8 @@ class ProfiledPIDController
m_setpoint.position = setpointMinDistance + measurement;
}
frc::TrapezoidProfile<Distance> profile{m_constraints, m_goal, m_setpoint};
m_setpoint = profile.Calculate(GetPeriod());
frc::TrapezoidProfile<Distance> profile{m_constraints};
m_setpoint = profile.Calculate(GetPeriod(), m_goal, m_setpoint);
return m_controller.Calculate(measurement.value(),
m_setpoint.position.value());
}