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

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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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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++;