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Clarified that PID controller runs in discrete time (#107)

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This was added to explain the apparent oversight with respect to controller behavior with different sample rates.
This commit is contained in:
Tyler Veness
2016-06-20 23:25:23 -07:00
committed by Peter Johnson
parent 046e043c4e
commit aa22d4c33b
2 changed files with 9 additions and 1 deletions
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4
wpilibc/shared/include/PIDController.h
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@@ -28,6 +28,10 @@ class PIDOutput;
*
* Creates a separate thread which reads the given PIDSource and takes
* care of the integral calculations, as well as writing the given PIDOutput.
*
* This feedback controller runs in discrete time, so time deltas are not used
* in the integral and derivative calculations. Therefore, the sample rate
* affects the controller's behavior for a given set of PID constants.
*/
class PIDController : public LiveWindowSendable,
public PIDInterface,

6
wpilibj/src/shared/java/edu/wpi/first/wpilibj/PIDController.java
View File

@@ -19,7 +19,11 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
* Class implements a PID Control Loop.
*
* <p>Creates a separate thread which reads the given PIDSource and takes care of the integral
* calculations, as well as writing the given PIDOutput
* calculations, as well as writing the given PIDOutput.
*
* <p>This feedback controller runs in discrete time, so time deltas are not used in the integral
* and derivative calculations. Therefore, the sample rate affects the controller's behavior for a
* given set of PID constants.
*/
public class PIDController implements PIDInterface, LiveWindowSendable, Controller {