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Moved C++ comments from source files to headers (#1111)

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Also sorted functions in C++ sources to match order in related headers.
This commit is contained in:
Tyler Veness
2018-05-31 20:47:15 -07:00
committed by Peter Johnson
parent d9971a705a
commit 8c680a26f8
234 changed files with 9936 additions and 9309 deletions
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215
wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp
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@@ -11,29 +11,12 @@
using namespace frc;
/**
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* @param name the name
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
*/
PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d)
: Subsystem(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
AddChild("PIDController", m_controller);
}
/**
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* @param name the name
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
* @param f the feedforward value
*/
PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d,
double f)
: Subsystem(name) {
@@ -41,19 +24,6 @@ PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d,
AddChild("PIDController", m_controller);
}
/**
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* It will also space the time between PID loop calculations to be equal to the
* given period.
*
* @param name the name
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
* @param f the feedfoward value
* @param period the time (in seconds) between calculations
*/
PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d,
double f, double period)
: Subsystem(name) {
@@ -62,49 +32,18 @@ PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d,
AddChild("PIDController", m_controller);
}
/**
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* It will use the class name as its name.
*
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
*/
PIDSubsystem::PIDSubsystem(double p, double i, double d)
: Subsystem("PIDSubsystem") {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
AddChild("PIDController", m_controller);
}
/**
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* It will use the class name as its name.
*
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
* @param f the feedforward value
*/
PIDSubsystem::PIDSubsystem(double p, double i, double d, double f)
: Subsystem("PIDSubsystem") {
m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
AddChild("PIDController", m_controller);
}
/**
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* It will use the class name as its name. It will also space the time
* between PID loop calculations to be equal to the given period.
*
* @param p the proportional value
* @param i the integral value
* @param d the derivative value
* @param f the feedforward value
* @param period the time (in seconds) between calculations
*/
PIDSubsystem::PIDSubsystem(double p, double i, double d, double f,
double period)
: Subsystem("PIDSubsystem") {
@@ -113,128 +52,46 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d, double f,
AddChild("PIDController", m_controller);
}
/**
* Enables the internal PIDController.
*/
void PIDSubsystem::Enable() { m_controller->Enable(); }
/**
* Disables the internal PIDController.
*/
void PIDSubsystem::Disable() { m_controller->Disable(); }
/**
* Returns the PIDController used by this PIDSubsystem.
*
* Use this if you would like to fine tune the PID loop.
*
* @return The PIDController used by this PIDSubsystem
*/
std::shared_ptr<PIDController> PIDSubsystem::GetPIDController() {
return m_controller;
}
/**
* Sets the setpoint to the given value.
*
* If SetRange() was called, then the given setpoint will be trimmed to fit
* within the range.
*
* @param setpoint the new setpoint
*/
void PIDSubsystem::SetSetpoint(double setpoint) {
m_controller->SetSetpoint(setpoint);
}
/**
* Adds the given value to the setpoint.
*
* If SetRange() was used, then the bounds will still be honored by this method.
*
* @param deltaSetpoint the change in the setpoint
*/
void PIDSubsystem::SetSetpointRelative(double deltaSetpoint) {
SetSetpoint(GetSetpoint() + deltaSetpoint);
}
/**
* Return the current setpoint.
*
* @return The current setpoint
*/
double PIDSubsystem::GetSetpoint() { return m_controller->GetSetpoint(); }
/**
* Sets the maximum and minimum values expected from the input.
*
* @param minimumInput the minimum value expected from the input
* @param maximumInput the maximum value expected from the output
*/
void PIDSubsystem::SetInputRange(double minimumInput, double maximumInput) {
m_controller->SetInputRange(minimumInput, maximumInput);
}
/**
* Sets the maximum and minimum values to write.
*
* @param minimumOutput the minimum value to write to the output
* @param maximumOutput the maximum value to write to the output
*/
void PIDSubsystem::SetOutputRange(double minimumOutput, double maximumOutput) {
m_controller->SetOutputRange(minimumOutput, maximumOutput);
}
/**
* Set the absolute error which is considered tolerable for use with
* OnTarget.
*
* @param absValue absolute error which is tolerable
*/
void PIDSubsystem::SetAbsoluteTolerance(double absValue) {
m_controller->SetAbsoluteTolerance(absValue);
}
/**
* Set the percentage error which is considered tolerable for use with
* OnTarget().
*
* @param percent percentage error which is tolerable
*/
void PIDSubsystem::SetPercentTolerance(double percent) {
m_controller->SetPercentTolerance(percent);
}
/**
* Return true if the error is within the percentage of the total input range,
* determined by SetTolerance().
*
* This asssumes that the maximum and minimum input were set using SetInput().
* Use OnTarget() in the IsFinished() method of commands that use this
* subsystem.
*
* Currently this just reports on target as the actual value passes through the
* setpoint. Ideally it should be based on being within the tolerance for some
* period of time.
*
* @return True if the error is within the percentage tolerance of the input
* range
*/
bool PIDSubsystem::OnTarget() const { return m_controller->OnTarget(); }
/**
* Returns the current position.
*
* @return the current position
*/
double PIDSubsystem::GetPosition() { return ReturnPIDInput(); }
/**
* Returns the current rate.
*
* @return the current rate
*/
double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
void PIDSubsystem::PIDWrite(double output) { UsePIDOutput(output); }
double PIDSubsystem::PIDGet() { return ReturnPIDInput(); }
void PIDSubsystem::SetSetpoint(double setpoint) {
m_controller->SetSetpoint(setpoint);
}
void PIDSubsystem::SetSetpointRelative(double deltaSetpoint) {
SetSetpoint(GetSetpoint() + deltaSetpoint);
}
void PIDSubsystem::SetInputRange(double minimumInput, double maximumInput) {
m_controller->SetInputRange(minimumInput, maximumInput);
}
void PIDSubsystem::SetOutputRange(double minimumOutput, double maximumOutput) {
m_controller->SetOutputRange(minimumOutput, maximumOutput);
}
double PIDSubsystem::GetSetpoint() { return m_controller->GetSetpoint(); }
double PIDSubsystem::GetPosition() { return ReturnPIDInput(); }
double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
void PIDSubsystem::SetAbsoluteTolerance(double absValue) {
m_controller->SetAbsoluteTolerance(absValue);
}
void PIDSubsystem::SetPercentTolerance(double percent) {
m_controller->SetPercentTolerance(percent);
}
bool PIDSubsystem::OnTarget() const { return m_controller->OnTarget(); }
std::shared_ptr<PIDController> PIDSubsystem::GetPIDController() {
return m_controller;
}