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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
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@@ -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);
}
/**