Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-03 03:01:44 +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

33
wpimath/src/main/native/include/frc/controller/BangBangController.h
View File

@@ -6,6 +6,7 @@
#include <limits>
#include <gcem.hpp>
#include <wpi/SymbolExports.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
@@ -37,57 +38,60 @@ class WPILIB_DLLEXPORT BangBangController
*
* @param tolerance Tolerance for atSetpoint.
*/
explicit BangBangController(
double tolerance = std::numeric_limits<double>::infinity());
constexpr explicit BangBangController(
double tolerance = std::numeric_limits<double>::infinity())
: m_tolerance(tolerance) {}
/**
* Sets the setpoint for the bang-bang controller.
*
* @param setpoint The desired setpoint.
*/
void SetSetpoint(double setpoint);
constexpr void SetSetpoint(double setpoint) { m_setpoint = setpoint; }
/**
* Returns the current setpoint of the bang-bang controller.
*
* @return The current setpoint.
*/
double GetSetpoint() const;
constexpr double GetSetpoint() const { return m_setpoint; }
/**
* Returns true if the error is within the tolerance of the setpoint.
*
* @return Whether the error is within the acceptable bounds.
*/
bool AtSetpoint() const;
constexpr bool AtSetpoint() const {
return gcem::abs(m_setpoint - m_measurement) < m_tolerance;
}
/**
* Sets the error within which AtSetpoint will return true.
*
* @param tolerance Position error which is tolerable.
*/
void SetTolerance(double tolerance);
constexpr void SetTolerance(double tolerance) { m_tolerance = tolerance; }
/**
* Returns the current tolerance of the controller.
*
* @return The current tolerance.
*/
double GetTolerance() const;
constexpr double GetTolerance() const { return m_tolerance; }
/**
* Returns the current measurement of the process variable.
*
* @return The current measurement of the process variable.
*/
double GetMeasurement() const;
constexpr double GetMeasurement() const { return m_measurement; }
/**
* Returns the current error.
*
* @return The current error.
*/
double GetError() const;
constexpr double GetError() const { return m_setpoint - m_measurement; }
/**
* Returns the calculated control output.
@@ -99,7 +103,12 @@ class WPILIB_DLLEXPORT BangBangController
* @param setpoint The setpoint for the process variable.
* @return The calculated motor output (0 or 1).
*/
double Calculate(double measurement, double setpoint);
constexpr double Calculate(double measurement, double setpoint) {
m_measurement = measurement;
m_setpoint = setpoint;
return measurement < setpoint ? 1 : 0;
}
/**
* Returns the calculated control output.
@@ -107,7 +116,9 @@ class WPILIB_DLLEXPORT BangBangController
* @param measurement The most recent measurement of the process variable.
* @return The calculated motor output (0 or 1).
*/
double Calculate(double measurement);
constexpr double Calculate(double measurement) {
return Calculate(measurement, m_setpoint);
}
void InitSendable(wpi::SendableBuilder& builder) override;