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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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8
wpilibc/src/test/native/cpp/controller/PIDInputOutputTest.cpp
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@@ -17,14 +17,6 @@ class PIDInputOutputTest : public testing::Test {
void TearDown() override { delete controller; }
};
TEST_F(PIDInputOutputTest, OutputRangeTest) {
controller->SetP(1);
controller->SetOutputRange(-50, 50);
EXPECT_DOUBLE_EQ(-50, controller->Calculate(100, 0));
EXPECT_DOUBLE_EQ(50, controller->Calculate(0, 100));
}
TEST_F(PIDInputOutputTest, ContinuousInputTest) {
controller->SetP(1);
controller->EnableContinuousInput(-180, 180);