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wpilibc: Add overloads for units (#1815)

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Add unit-taking overloads to the following classes:
- IterativeRobotBase
- LinearFilter
- Notifier
- TimedRobot
- Timer (HasPeriodPassed only)
- frc2::PIDController

The corresponding non-units-taking functions have been deprecated.

The return value of TimedRobot::GetPeriod() was updated.
This is a breaking change, users should use to<double> to get the value in seconds.

Other return values, e.g. Timer::Get(), have NOT been updated due to much wider use.
This commit is contained in:
Prateek Machiraju
2019-08-17 00:56:48 -04:00
committed by Peter Johnson
parent f1d71da8a9
commit c07ac23532
15 changed files with 136 additions and 35 deletions
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19
wpilibc/src/main/native/cpp/controller/PIDController.cpp
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@@ -16,8 +16,13 @@
using namespace frc2;
PIDController::PIDController(double Kp, double Ki, double Kd, double period)
: frc::SendableBase(false), m_Kp(Kp), m_Ki(Ki), m_Kd(Kd), m_period(period) {
PIDController::PIDController(double Kp, double Ki, double Kd,
units::second_t period)
: frc::SendableBase(false),
m_Kp(Kp),
m_Ki(Ki),
m_Kd(Kd),
m_period(period.to<double>()) {
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
@@ -36,7 +41,9 @@ double PIDController::GetI() const { return m_Ki; }
double PIDController::GetD() const { return m_Kd; }
double PIDController::GetPeriod() const { return m_period; }
units::second_t PIDController::GetPeriod() const {
return units::second_t(m_period);
}
double PIDController::GetOutput() const { return m_output; }
@@ -111,7 +118,7 @@ double PIDController::GetError() const {
* @return The change in error per second.
*/
double PIDController::GetDeltaError() const {
return (m_currError - m_prevError) / GetPeriod();
return (m_currError - m_prevError) / m_period;
}
double PIDController::Calculate(double measurement, double setpoint) {
@@ -158,12 +165,12 @@ double PIDController::Calculate(double measurement) {
m_currError = GetContinuousError(m_setpoint - measurement);
if (m_Ki != 0) {
m_totalError = std::clamp(m_totalError + m_currError * GetPeriod(),
m_totalError = std::clamp(m_totalError + m_currError * m_period,
m_minimumOutput / m_Ki, m_maximumOutput / m_Ki);
}
m_output = std::clamp(m_Kp * m_currError + m_Ki * m_totalError +
m_Kd * (m_currError - m_prevError) / GetPeriod(),
m_Kd * (m_currError - m_prevError) / m_period,
m_minimumOutput, m_maximumOutput);
return m_output;