From a26a7d217d690168b431e545547e37ac9009a4eb Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Sun, 15 Mar 2020 07:04:47 +0200 Subject: [PATCH] Remove references to percent tolerance (#2380) Co-authored-by: Tyler Veness --- .../src/main/native/include/frc/controller/PIDController.h | 4 ++-- .../java/edu/wpi/first/wpilibj/controller/PIDController.java | 5 ++--- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/wpilibc/src/main/native/include/frc/controller/PIDController.h b/wpilibc/src/main/native/include/frc/controller/PIDController.h index 66a36fb3fc..642cc8878e 100644 --- a/wpilibc/src/main/native/include/frc/controller/PIDController.h +++ b/wpilibc/src/main/native/include/frc/controller/PIDController.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Copyright (c) 2018-2020 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. */ @@ -117,7 +117,7 @@ class PIDController : public frc::Sendable, double GetSetpoint() const; /** - * Returns true if the error is within the tolerance of the error. + * Returns true if the error is within the tolerance of the setpoint. * * This will return false until at least one input value has been computed. */ diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java index eea0644b3f..68c8dfbc61 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java @@ -62,7 +62,7 @@ public class PIDController implements Sendable, AutoCloseable { // The sum of the errors for use in the integral calc private double m_totalError; - // The percentage or absolute error that is considered at setpoint. + // The error that is considered at setpoint. private double m_positionTolerance = 0.05; private double m_velocityTolerance = Double.POSITIVE_INFINITY; @@ -213,8 +213,7 @@ public class PIDController implements Sendable, AutoCloseable { } /** - * Returns true if the error is within the percentage of the total input range, determined by - * SetTolerance. This asssumes that the maximum and minimum input were set using SetInput. + * Returns true if the error is within the tolerance of the setpoint. * *

This will return false until at least one input value has been computed. *