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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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3
wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
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@@ -141,7 +141,7 @@ TEST_P(MotorEncoderTest, PositionPIDController) {
double goal = 1000;
frc2::PIDController pidController(0.001, 0.01, 0.0);
pidController.SetTolerance(50.0);
pidController.SetOutputRange(-0.2, 0.2);
pidController.SetIntegratorRange(-0.2, 0.2);
pidController.SetSetpoint(goal);
/* 10 seconds should be plenty time to get to the reference */
@@ -167,7 +167,6 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
frc2::PIDController pidController(1e-5, 0.0, 0.0006);
pidController.SetTolerance(200.0);
pidController.SetOutputRange(-0.3, 0.3);
pidController.SetSetpoint(600);
/* 10 seconds should be plenty time to get to the reference */