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Clean up PIDCommand (#2010)

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PIDCommand uses a function based (callback) model, so functions designed for use in derived classes are of limited utility.
This commit is contained in:
Oblarg
2019-11-01 16:11:55 -04:00
committed by Peter Johnson
parent 9ebd23d61e
commit c5186d8159
6 changed files with 11 additions and 150 deletions
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24
wpilibc/src/main/native/cpp/frc2/command/PIDCommand.cpp
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@@ -31,29 +31,9 @@ PIDCommand::PIDCommand(PIDController controller,
void PIDCommand::Initialize() { m_controller.Reset(); }
void PIDCommand::Execute() {
UseOutput(m_controller.Calculate(GetMeasurement(), m_setpoint()));
m_useOutput(m_controller.Calculate(m_measurement(), m_setpoint()));
}
void PIDCommand::End(bool interrupted) { UseOutput(0); }
void PIDCommand::SetOutput(std::function<void(double)> useOutput) {
m_useOutput = useOutput;
}
void PIDCommand::SetSetpoint(std::function<double()> setpointSource) {
m_setpoint = setpointSource;
}
void PIDCommand::SetSetpoint(double setpoint) {
m_setpoint = [setpoint] { return setpoint; };
}
void PIDCommand::SetSetpointRelative(double relativeSetpoint) {
SetSetpoint(m_setpoint() + relativeSetpoint);
}
double PIDCommand::GetMeasurement() { return m_measurement(); }
void PIDCommand::UseOutput(double output) { m_useOutput(output); }
void PIDCommand::End(bool interrupted) { m_useOutput(0); }
PIDController& PIDCommand::getController() { return m_controller; }

12
wpilibc/src/main/native/cpp/frc2/command/ProfiledPIDCommand.cpp
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@@ -54,18 +54,12 @@ ProfiledPIDCommand::ProfiledPIDCommand(
void ProfiledPIDCommand::Initialize() { m_controller.Reset(); }
void ProfiledPIDCommand::Execute() {
UseOutput(m_controller.Calculate(GetMeasurement(), m_goal()),
m_controller.GetSetpoint());
m_useOutput(m_controller.Calculate(m_measurement(), m_goal()),
m_controller.GetSetpoint());
}
void ProfiledPIDCommand::End(bool interrupted) {
UseOutput(0, State{0_m, 0_mps});
}
units::meter_t ProfiledPIDCommand::GetMeasurement() { return m_measurement(); }
void ProfiledPIDCommand::UseOutput(double output, State state) {
m_useOutput(output, state);
m_useOutput(0, State{0_m, 0_mps});
}
frc::ProfiledPIDController& ProfiledPIDCommand::GetController() {

45
wpilibc/src/main/native/include/frc2/command/PIDCommand.h
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@@ -63,51 +63,6 @@ class PIDCommand : public CommandHelper<CommandBase, PIDCommand> {
void End(bool interrupted) override;
/**
* Sets the function that uses the output of the PIDController.
*
* @param useOutput The function that uses the output.
*/
void SetOutput(std::function<void(double)> useOutput);
/**
* Sets the setpoint for the controller to track the given source.
*
* @param setpointSource The setpoint source
*/
void SetSetpoint(std::function<double()> setpointSource);
/**
* Sets the setpoint for the controller to a constant value.
*
* @param setpoint The setpoint
*/
void SetSetpoint(double setpoint);
/**
* Sets the setpoint for the controller to a constant value relative (i.e.
* added to) the current setpoint.
*
* @param relativeReference The change in setpoint
*/
void SetSetpointRelative(double relativeSetpoint);
/**
* Gets the measurement of the process variable. Wraps the passed-in function
* for readability.
*
* @return The measurement of the process variable
*/
virtual double GetMeasurement();
/**
* Gets the measurement of the process variable. Wraps the passed-in function
* for readability.
*
* @return The measurement of the process variable
*/
virtual void UseOutput(double output);
/**
* Returns the PIDController used by the command.
*

16
wpilibc/src/main/native/include/frc2/command/ProfiledPIDCommand.h
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@@ -100,22 +100,6 @@ class ProfiledPIDCommand
void End(bool interrupted) override;
/**
* Gets the measurement of the process variable. Wraps the passed-in function
* for readability.
*
* @return The measurement of the process variable
*/
virtual units::meter_t GetMeasurement();
/**
* Gets the measurement of the process variable. Wraps the passed-in function
* for readability.
*
* @return The measurement of the process variable
*/
virtual void UseOutput(double output, State state);
/**
* Returns the ProfiledPIDController used by the command.
*

32
wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
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@@ -72,12 +72,13 @@ public class PIDCommand extends CommandBase {
@Override
public void execute() {
useOutput(m_controller.calculate(getMeasurement(), getSetpoint()));
m_useOutput.accept(m_controller.calculate(m_measurement.getAsDouble(),
m_setpoint.getAsDouble()));
}
@Override
public void end(boolean interrupted) {
useOutput(0);
m_useOutput.accept(0);
}
/**
@@ -88,31 +89,4 @@ public class PIDCommand extends CommandBase {
public PIDController getController() {
return m_controller;
}
/**
* Gets the setpoint for the controller. Wraps the passed-in function for readability.
*
* @return The setpoint for the controller
*/
private double getSetpoint() {
return m_setpoint.getAsDouble();
}
/**
* Gets the measurement of the process variable. Wraps the passed-in function for readability.
*
* @return The measurement of the process variable
*/
private double getMeasurement() {
return m_measurement.getAsDouble();
}
/**
* Uses the output of the controller. Wraps the passed-in function for readability.
*
* @param output The output value to use
*/
private void useOutput(double output) {
m_useOutput.accept(output);
}
}

32
wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
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@@ -118,12 +118,13 @@ public class ProfiledPIDCommand extends CommandBase {
@Override
public void execute() {
useOutput(m_controller.calculate(getMeasurement(), getGoal()), m_controller.getSetpoint());
m_useOutput.accept(m_controller.calculate(m_measurement.getAsDouble(), m_goal.get()),
m_controller.getSetpoint());
}
@Override
public void end(boolean interrupted) {
useOutput(0, new State());
m_useOutput.accept(0., new State());
}
/**
@@ -134,31 +135,4 @@ public class ProfiledPIDCommand extends CommandBase {
public ProfiledPIDController getController() {
return m_controller;
}
/**
* Gets the goal for the controller. Wraps the passed-in function for readability.
*
* @return The goal for the controller
*/
private State getGoal() {
return m_goal.get();
}
/**
* Gets the measurement of the process variable. Wraps the passed-in function for readability.
*
* @return The measurement of the process variable
*/
private double getMeasurement() {
return m_measurement.getAsDouble();
}
/**
* Uses the output of the controller. Wraps the passed-in function for readability.
*
* @param output The output value to use
*/
private void useOutput(double output, State state) {
m_useOutput.accept(output, state);
}
}