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Fix onTarget() so that it returns false until there are any values retrieved

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The onTarget() method uses the average error and there might not be a valid value
until the PIDController runs once. This is causing commands to bail out early in
simulation.

Change-Id: I7bac9ecb847cbe4f378385b1a6998bba10147554
This commit is contained in:
Brad Miller
2016-01-07 10:19:14 -05:00
committed by Fredric Silberberg
parent c57e749a94
commit 99b6000a65
2 changed files with 14 additions and 2 deletions
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2
wpilibc/Athena/src/PIDController.cpp
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@@ -486,8 +486,10 @@ void PIDController::SetToleranceBuffer(unsigned bufLength) {
* setpoint.
* Ideally it should be based on being within the tolerance for some period of
* time.
* This will return false until at least one input value has been computed.
*/
bool PIDController::OnTarget() const {
if (m_buf.size() == 0) return false;
double error = GetAvgError();
std::lock_guard<priority_recursive_mutex> sync(m_mutex);