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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
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
View File

@@ -178,7 +178,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
public void testPositionPIDController() {
PIDController pidController = new PIDController(0.001, 0.0005, 0);
pidController.setTolerance(50.0);
pidController.setOutputRange(-0.2, 0.2);
pidController.setIntegratorRange(-0.2, 0.2);
pidController.setSetpoint(1000);
Notifier pidRunner = new Notifier(
@@ -201,7 +201,6 @@ public class MotorEncoderTest extends AbstractComsSetup {
LinearFilter filter = LinearFilter.movingAverage(50);
PIDController pidController = new PIDController(1e-5, 0.0, 0.0006);
pidController.setTolerance(200);
pidController.setOutputRange(-0.3, 0.3);
pidController.setSetpoint(600);
Notifier pidRunner =

14
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
View File

@@ -45,7 +45,7 @@ public class PIDTest extends AbstractComsSetup {
private SendableBuilderImpl m_builder;
private static final double absoluteTolerance = 50;
private static final double outputRange = 0.25;
private static final double integratorRange = 0.25;
private PIDController m_controller = null;
private static MotorEncoderFixture<?> me = null;
@@ -121,14 +121,14 @@ public class PIDTest extends AbstractComsSetup {
m_controller.setTolerance(absoluteTolerance);
}
private void setupOutputRange() {
m_controller.setOutputRange(-outputRange, outputRange);
private void setupIntegratorRange() {
m_controller.setIntegratorRange(-integratorRange, integratorRange);
}
@Test
public void testInitialSettings() {
setupTolerance();
setupOutputRange();
setupIntegratorRange();
double reference = 2500.0;
m_controller.setSetpoint(reference);
assertEquals("PID.getPositionError() did not start at " + reference,
@@ -144,7 +144,7 @@ public class PIDTest extends AbstractComsSetup {
@Test
public void testSetSetpoint() {
setupTolerance();
setupOutputRange();
setupIntegratorRange();
double reference = 2500.0;
m_controller.setSetpoint(reference);
assertEquals("Did not correctly set reference", reference, m_controller.getSetpoint(), 1e-3);
@@ -153,7 +153,7 @@ public class PIDTest extends AbstractComsSetup {
@Test(timeout = 10000)
public void testRotateToTarget() {
setupTolerance();
setupOutputRange();
setupIntegratorRange();
double reference = 1000.0;
assertEquals(pidData() + "did not start at 0", 0, me.getMotor().get(), 0);
m_controller.setSetpoint(reference);
@@ -178,7 +178,7 @@ public class PIDTest extends AbstractComsSetup {
@Test(expected = RuntimeException.class)
public void testOnTargetNoToleranceSet() {
setupOutputRange();
setupIntegratorRange();
m_controller.atSetpoint();
}
}