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Replace SetOutputRange() with SetIntegratorRange()

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If users are attempting to use the output range to limit the controller
action, they should use ProfiledPIDController instead. If they actually
intended to clamp the output, they should use std::clamp().
This commit is contained in:
Tyler Veness
2019-08-26 21:40:30 -07:00
committed by Peter Johnson
parent ff8b8f0a8a
commit 9b6ffc201c
11 changed files with 55 additions and 72 deletions
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13
wpilibc/src/main/native/cpp/controller/PIDController.cpp
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@@ -64,9 +64,10 @@ void PIDController::EnableContinuousInput(double minimumInput,
void PIDController::DisableContinuousInput() { m_continuous = false; }
void PIDController::SetOutputRange(double minimumOutput, double maximumOutput) {
m_minimumOutput = minimumOutput;
m_maximumOutput = maximumOutput;
void PIDController::SetIntegratorRange(double minimumIntegral,
double maximumIntegral) {
m_minimumIntegral = minimumIntegral;
m_maximumIntegral = maximumIntegral;
}
void PIDController::SetTolerance(double positionTolerance,
@@ -89,12 +90,10 @@ double PIDController::Calculate(double measurement) {
if (m_Ki != 0) {
m_totalError =
std::clamp(m_totalError + m_positionError * m_period.to<double>(),
m_minimumOutput / m_Ki, m_maximumOutput / m_Ki);
m_minimumIntegral / m_Ki, m_maximumIntegral / m_Ki);
}
return std::clamp(
m_Kp * m_positionError + m_Ki * m_totalError + m_Kd * m_velocityError,
m_minimumOutput, m_maximumOutput);
return m_Kp * m_positionError + m_Ki * m_totalError + m_Kd * m_velocityError;
}
double PIDController::Calculate(double measurement, double setpoint) {