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Add setVoltage method to SpeedController (#1997)

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Add a voltage-compensated setVoltage method to SpeedController, which is sorely needed to help teams use feedforward-based controls effectively. Also uses correct units on the cpp side.

Also update relevant examples.
This commit is contained in:
Oblarg
2019-11-01 12:32:40 -04:00
committed by Peter Johnson
parent f6e311ef86
commit 9ebd23d61e
12 changed files with 88 additions and 39 deletions
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17
wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,6 +18,21 @@ public interface SpeedController extends PIDOutput {
*/
void set(double speed);
/**
* Sets the voltage output of the SpeedController. Compensates for the current bus
* voltage to ensure that the desired voltage is output even if the battery voltage is below
* 12V - highly useful when the voltage outputs are "meaningful" (e.g. they come from a
* feedforward calculation).
*
* <p>NOTE: This function *must* be called regularly in order for voltage compensation to work
* properly - unlike the ordinary set function, it is not "set it and forget it."
*
* @param outputVolts The voltage to output.
*/
default void setVoltage(double outputVolts) {
set(outputVolts / RobotController.getBatteryVoltage());
}
/**
* Common interface for getting the current set speed of a speed controller.
*