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[wpilib] Require non-zero positive value for PIDController.period (#3175)

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This commit is contained in:
Starlight220
2021-02-17 04:07:29 +02:00
committed by GitHub
parent 9522f2e8c7
commit 959611420b
3 changed files with 12 additions and 2 deletions
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7
wpilibc/src/main/native/cpp/controller/PIDController.cpp
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@@ -9,6 +9,7 @@
#include <hal/FRCUsageReporting.h>
#include "frc/DriverStation.h"
#include "frc/MathUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -18,6 +19,12 @@ using namespace frc2;
PIDController::PIDController(double Kp, double Ki, double Kd,
units::second_t period)
: m_Kp(Kp), m_Ki(Ki), m_Kd(Kd), m_period(period) {
if (period <= 0_s) {
frc::DriverStation::ReportError(
"Controller period must be a non-zero positive number!");
m_period = 20_ms;
frc::DriverStation::ReportWarning("Controller period defaulted to 20ms.");
}
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_PIDController2, instances);

2
wpilibc/src/main/native/include/frc/controller/PIDController.h
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@@ -27,7 +27,7 @@ class PIDController : public frc::Sendable,
* @param Ki The integral coefficient.
* @param Kd The derivative coefficient.
* @param period The period between controller updates in seconds. The
* default is 20 milliseconds.
* default is 20 milliseconds. Must be non-zero and positive.
*/
PIDController(double Kp, double Ki, double Kd,
units::second_t period = 20_ms);

5
wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
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@@ -74,13 +74,16 @@ public class PIDController implements Sendable, AutoCloseable {
* @param kp The proportional coefficient.
* @param ki The integral coefficient.
* @param kd The derivative coefficient.
* @param period The period between controller updates in seconds.
* @param period The period between controller updates in seconds. Must be non-zero and positive.
*/
public PIDController(double kp, double ki, double kd, double period) {
m_kp = kp;
m_ki = ki;
m_kd = kd;
if (period <= 0) {
throw new IllegalArgumentException("Controller period must be a non-zero positive number!");
}
m_period = period;
instances++;