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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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27
wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
View File

@@ -35,11 +35,9 @@ public class PIDController extends SendableBase {
// The period (in seconds) of the loop that calls the controller
private final double m_period;
// |maximum output|
private double m_maximumOutput = 1.0;
private double m_maximumIntegral = 1.0;
// |minimum output|
private double m_minimumOutput = -1.0;
private double m_minimumIntegral = -1.0;
// Maximum input - limit setpoint to this
private double m_maximumInput;
@@ -244,14 +242,17 @@ public class PIDController extends SendableBase {
}
/**
* 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
* <p>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.
*/
public void setOutputRange(double minimumOutput, double maximumOutput) {
m_minimumOutput = minimumOutput;
m_maximumOutput = maximumOutput;
public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
m_minimumIntegral = minimumIntegral;
m_maximumIntegral = maximumIntegral;
}
/**
@@ -314,12 +315,10 @@ public class PIDController extends SendableBase {
if (m_Ki != 0) {
m_totalError = MathUtils.clamp(m_totalError + m_positionError * m_period,
m_minimumOutput / m_Ki, m_maximumOutput / m_Ki);
m_minimumIntegral / m_Ki, m_maximumIntegral / m_Ki);
}
return MathUtils.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;
}
/**

13
wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java
View File

@@ -210,13 +210,16 @@ public class ProfiledPIDController extends SendableBase {
}
/**
* 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
* <p>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.
*/
public void setOutputRange(double minimumOutput, double maximumOutput) {
m_controller.setOutputRange(minimumOutput, maximumOutput);
public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
m_controller.setIntegratorRange(minimumIntegral, maximumIntegral);
}
/**