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[wpimath] PIDController: Add IZone (#5315)

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Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
This commit is contained in:
Gold856
2023-06-20 02:01:01 -04:00
committed by GitHub
parent f5b0d1484b
commit 991f4b0f62
7 changed files with 158 additions and 2 deletions
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22
wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
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@@ -106,6 +106,18 @@ class ProfiledPIDController
*/
void SetD(double Kd) { m_controller.SetD(Kd); }
/**
* Sets the IZone range. When the absolute value of the position error is
* greater than IZone, the total accumulated error will reset to zero,
* disabling integral gain until the absolute value of the position error is
* less than IZone. This is used to prevent integral windup. Must be
* non-negative. Passing a value of zero will effectively disable integral
* gain. Passing a value of infinity disables IZone functionality.
*
* @param iZone Maximum magnitude of error to allow integral control.
*/
void SetIZone(double iZone) { m_controller.SetIZone(iZone); }
/**
* Gets the proportional coefficient.
*
@@ -127,6 +139,13 @@ class ProfiledPIDController
*/
double GetD() const { return m_controller.GetD(); }
/**
* Get the IZone range.
*
* @return Maximum magnitude of error to allow integral control.
*/
double GetIZone() const { return m_controller.GetIZone(); }
/**
* Gets the period of this controller.
*
@@ -377,6 +396,9 @@ class ProfiledPIDController
"i", [this] { return GetI(); }, [this](double value) { SetI(value); });
builder.AddDoubleProperty(
"d", [this] { return GetD(); }, [this](double value) { SetD(value); });
builder.AddDoubleProperty(
"izone", [this] { return GetIZone(); },
[this](double value) { SetIZone(value); });
builder.AddDoubleProperty(
"goal", [this] { return GetGoal().position.value(); },
[this](double value) { SetGoal(Distance_t{value}); });