Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Reflowed comments and removed commented out code (#735)

Browse Source
This commit is contained in:
Tyler Veness
2017-11-16 00:33:51 -08:00
committed by Peter Johnson
parent 1e8d18b328
commit c663d7cd16
103 changed files with 784 additions and 778 deletions
Download Patch File Download Diff File Expand all files Collapse all files

44
wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp
View File

@@ -12,8 +12,7 @@
using namespace frc;
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* @param name the name
* @param p the proportional value
@@ -27,8 +26,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
}
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* @param name the name
* @param p the proportional value
@@ -43,8 +41,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
}
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* It will also space the time between PID loop calculations to be equal to the
* given period.
@@ -64,8 +61,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
}
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* It will use the class name as its name.
*
@@ -79,8 +75,7 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d)
}
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* It will use the class name as its name.
*
@@ -95,8 +90,7 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d, double f)
}
/**
* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
* values.
* Instantiates a PIDSubsystem that will use the given P, I, and D values.
*
* It will use the class name as its name. It will also space the time
* between PID loop calculations to be equal to the given period.
@@ -115,21 +109,21 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d, double f,
}
/**
* Enables the internal {@link PIDController}.
* Enables the internal PIDController.
*/
void PIDSubsystem::Enable() { m_controller->Enable(); }
/**
* Disables the internal {@link PIDController}.
* Disables the internal PIDController.
*/
void PIDSubsystem::Disable() { m_controller->Disable(); }
/**
* Returns the {@link PIDController} used by this {@link PIDSubsystem}.
* Returns the PIDController used by this PIDSubsystem.
*
* Use this if you would like to fine tune the pid loop.
* Use this if you would like to fine tune the PID loop.
*
* @return the {@link PIDController} used by this {@link PIDSubsystem}
* @return The PIDController used by this PIDSubsystem
*/
std::shared_ptr<PIDController> PIDSubsystem::GetPIDController() {
return m_controller;
@@ -138,8 +132,8 @@ std::shared_ptr<PIDController> PIDSubsystem::GetPIDController() {
/**
* Sets the setpoint to the given value.
*
* If {@link PIDCommand#SetRange(double, double) SetRange(...)} was called,
* then the given setpoint will be trimmed to fit within the range.
* If SetRange() was called, then the given setpoint will be trimmed to fit
* within the range.
*
* @param setpoint the new setpoint
*/
@@ -150,8 +144,7 @@ void PIDSubsystem::SetSetpoint(double setpoint) {
/**
* Adds the given value to the setpoint.
*
* If {@link PIDCommand#SetRange(double, double) SetRange(...)} was used,
* then the bounds will still be honored by this method.
* If SetRange() was used, then the bounds will still be honored by this method.
*
* @param deltaSetpoint the change in the setpoint
*/
@@ -197,7 +190,8 @@ void PIDSubsystem::SetAbsoluteTolerance(double absValue) {
}
/**
* Set the percentage error which is considered tolerable for use with OnTarget.
* Set the percentage error which is considered tolerable for use with
* OnTarget().
*
* @param percent percentage error which is tolerable
*/
@@ -207,9 +201,9 @@ void PIDSubsystem::SetPercentTolerance(double percent) {
/**
* Return true if the error is within the percentage of the total input range,
* determined by SetTolerance.
* determined by SetTolerance().
*
* This asssumes that the maximum and minimum input were set using SetInput.
* This asssumes that the maximum and minimum input were set using SetInput().
* Use OnTarget() in the IsFinished() method of commands that use this
* subsystem.
*
@@ -217,7 +211,7 @@ void PIDSubsystem::SetPercentTolerance(double percent) {
* setpoint. Ideally it should be based on being within the tolerance for some
* period of time.
*
* @return true if the error is within the percentage tolerance of the input
* @return True if the error is within the percentage tolerance of the input
* range
*/
bool PIDSubsystem::OnTarget() const { return m_controller->OnTarget(); }