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[commands] Fix ProfiledPIDSubsystem setGoal behavior (#4414)

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Remove m_goal from ProfiledPIDSubsystem

Delegate setGoal to backing controller
This commit is contained in:
Ryan Blue
2022-09-17 03:22:45 -04:00
committed by GitHub
parent fdfb85f695
commit 97836f0e55
2 changed files with 5 additions and 10 deletions
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6
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
View File

@@ -20,8 +20,6 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
protected final ProfiledPIDController m_controller;
protected boolean m_enabled;
private TrapezoidProfile.State m_goal;
/**
* Creates a new ProfiledPIDSubsystem.
*
@@ -45,7 +43,7 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
@Override
public void periodic() {
if (m_enabled) {
useOutput(m_controller.calculate(getMeasurement(), m_goal), m_controller.getSetpoint());
useOutput(m_controller.calculate(getMeasurement()), m_controller.getSetpoint());
}
}
@@ -59,7 +57,7 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
* @param goal The goal state for the subsystem's motion profile.
*/
public void setGoal(TrapezoidProfile.State goal) {
m_goal = goal;
m_controller.setGoal(goal);
}
/**

9
wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
View File

@@ -41,7 +41,7 @@ class ProfiledPIDSubsystem : public SubsystemBase {
void Periodic() override {
if (m_enabled) {
UseOutput(m_controller.Calculate(GetMeasurement(), m_goal),
UseOutput(m_controller.Calculate(GetMeasurement()),
m_controller.GetSetpoint());
}
}
@@ -51,14 +51,14 @@ class ProfiledPIDSubsystem : public SubsystemBase {
*
* @param goal The goal state for the subsystem's motion profile.
*/
void SetGoal(State goal) { m_goal = goal; }
void SetGoal(State goal) { m_controller.SetGoal(goal); }
/**
* Sets the goal state for the subsystem. Goal velocity assumed to be zero.
*
* @param goal The goal position for the subsystem's motion profile.
*/
void SetGoal(Distance_t goal) { m_goal = State{goal, Velocity_t(0)}; }
void SetGoal(Distance_t goal) { SetGoal(State{goal, Velocity_t(0)}); }
/**
* Enables the PID control. Resets the controller.
@@ -110,8 +110,5 @@ class ProfiledPIDSubsystem : public SubsystemBase {
* feedforward
*/
virtual void UseOutput(double output, State setpoint) = 0;
private:
State m_goal;
};
} // namespace frc2