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The output range can be set on a PIDSubSystem

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Also, mimimum -> minimum in PIDController.h

Change-Id: I0cdfdca6ca2bdf2c2a40ee524cc925281069fcf4
This commit is contained in:
Thomas Clark
2014-08-05 14:02:11 -04:00
parent 741e28b855
commit a09f75934a
4 changed files with 32 additions and 13 deletions
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21
wpilibc/wpilibC++/lib/Commands/PIDSubsystem.cpp
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@@ -8,8 +8,6 @@
#include "PIDController.h"
#include "float.h"
// XXX max and min are not used?
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d values.
* @param name the name
@@ -111,7 +109,7 @@ void PIDSubsystem::Enable()
m_controller->Enable();
}
/**
/**
* Disables the internal {@link PIDController}
*/
void PIDSubsystem::Disable()
@@ -165,7 +163,7 @@ double PIDSubsystem::GetSetpoint()
/**
* Sets the maximum and minimum values expected from the input.
*
*
* @param minimumInput the minimum value expected from the input
* @param maximumInput the maximum value expected from the output
*/
@@ -174,6 +172,17 @@ void PIDSubsystem::SetInputRange(float minimumInput, float maximumInput)
m_controller->SetInputRange(minimumInput, maximumInput);
}
/**
* Sets the maximum and minimum values to write.
*
* @param minimumOutput the minimum value to write to the output
* @param maximumOutput the maximum value to write to the output
*/
void PIDSubsystem::SetOutputRange(float minimumOutput, float maximumOutput)
{
m_controller->SetOutputRange(minimumOutput, maximumOutput);
}
/*
* Set the absolute error which is considered tolerable for use with
* OnTarget.
@@ -197,10 +206,10 @@ void PIDSubsystem::SetPercentTolerance(float percent) {
* determined by SetTolerance. This asssumes that the maximum and minimum input
* were set using SetInput. Use OnTarget() in the IsFinished() method of commands
* that use this subsystem.
*
*
* Currently this just reports on target as the actual value passes through the setpoint.
* Ideally it should be based on being within the tolerance for some period of time.
*
*
* @return true if the error is within the percentage tolerance of the input range
*/
bool PIDSubsystem::OnTarget()