Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Make controllers and some trajectory classes constexpr (#7343)

Browse Source
This commit is contained in:
Tyler Veness
2024-11-07 13:02:11 -08:00
committed by GitHub
parent 44a45d44e2
commit a66fa339dc
71 changed files with 1512 additions and 1900 deletions
Download Patch File Download Diff File Expand all files Collapse all files

44
wpimath/src/main/native/cpp/controller/BangBangController.cpp
View File

@@ -6,52 +6,8 @@
#include <wpi/sendable/SendableBuilder.h>
#include "wpimath/MathShared.h"
using namespace frc;
BangBangController::BangBangController(double tolerance)
: m_tolerance(tolerance) {}
void BangBangController::SetSetpoint(double setpoint) {
m_setpoint = setpoint;
}
double BangBangController::GetSetpoint() const {
return m_setpoint;
}
bool BangBangController::AtSetpoint() const {
return std::abs(m_setpoint - m_measurement) < m_tolerance;
}
void BangBangController::SetTolerance(double tolerance) {
m_tolerance = tolerance;
}
double BangBangController::GetTolerance() const {
return m_tolerance;
}
double BangBangController::GetMeasurement() const {
return m_measurement;
}
double BangBangController::GetError() const {
return m_setpoint - m_measurement;
}
double BangBangController::Calculate(double measurement, double setpoint) {
m_measurement = measurement;
m_setpoint = setpoint;
return measurement < setpoint ? 1 : 0;
}
double BangBangController::Calculate(double measurement) {
return Calculate(measurement, m_setpoint);
}
void BangBangController::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("BangBangController");
builder.AddDoubleProperty(