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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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11
wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
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@@ -168,12 +168,15 @@ class ProfiledPIDController : public SendableBase {
void DisableContinuousInput();
/**
* Sets the minimum and maximum values to write.
* Sets the minimum and maximum values for the integrator.
*
* @param minimumOutput the minimum value to write to the output
* @param maximumOutput the maximum value to write to the output
* When the cap is reached, the integrator value is added to the controller
* output rather than the integrator value times the integral gain.
*
* @param minimumIntegral The minimum value of the integrator.
* @param maximumIntegral The maximum value of the integrator.
*/
void SetOutputRange(double minimumOutput, double maximumOutput);
void SetIntegratorRange(double minimumIntegral, double maximumIntegral);
/**
* Sets the error which is considered tolerable for use with