From c93b5bedf918d4f6cf3feacb535d9a76cca79538 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Thu, 14 Jul 2016 13:51:32 -0700
Subject: [PATCH] Miscellaneous cleanups for wpilibc PID controller (#175)

* Reorder wpilibc PIDController's SetAbsoluteTolerance() and SetPercentTolerance() implementations to be consistent with header and wpilibj

* Added std:: prefix to fabs() calls in wpilibc PIDController
---
 wpilibc/athena/src/PIDController.cpp | 34 +++++++++++++++-------------
 wpilibc/sim/src/PIDController.cpp    | 34 +++++++++++++++-------------
 2 files changed, 36 insertions(+), 32 deletions(-)

diff --git a/wpilibc/athena/src/PIDController.cpp b/wpilibc/athena/src/PIDController.cpp
index 5ecc2b8fee..20412df1d4 100644
--- a/wpilibc/athena/src/PIDController.cpp
+++ b/wpilibc/athena/src/PIDController.cpp
@@ -6,8 +6,10 @@
 /*----------------------------------------------------------------------------*/
 
 #include "PIDController.h"
-#include <math.h>
+
+#include <cmath>
 #include <vector>
+
 #include "HAL/HAL.h"
 #include "Notifier.h"
 #include "PIDOutput.h"
@@ -110,7 +112,7 @@ void PIDController::Calculate() {
 
     m_error = m_setpoint - input;
     if (m_continuous) {
-      if (fabs(m_error) > (m_maximumInput - m_minimumInput) / 2) {
+      if (std::fabs(m_error) > (m_maximumInput - m_minimumInput) / 2) {
         if (m_error > 0) {
           m_error = m_error - m_maximumInput + m_minimumInput;
         } else {
@@ -454,18 +456,6 @@ void PIDController::SetTolerance(float percent) {
   m_tolerance = percent;
 }
 
-/*
- * Set the percentage error which is considered tolerable for use with
- * OnTarget.
- *
- * @param percentage error which is tolerable
- */
-void PIDController::SetPercentTolerance(float percent) {
-  std::lock_guard<priority_recursive_mutex> sync(m_mutex);
-  m_toleranceType = kPercentTolerance;
-  m_tolerance = percent;
-}
-
 /*
  * Set the absolute error which is considered tolerable for use with
  * OnTarget.
@@ -478,6 +468,18 @@ void PIDController::SetAbsoluteTolerance(float absTolerance) {
   m_tolerance = absTolerance;
 }
 
+/*
+ * Set the percentage error which is considered tolerable for use with
+ * OnTarget.
+ *
+ * @param percentage error which is tolerable
+ */
+void PIDController::SetPercentTolerance(float percent) {
+  std::lock_guard<priority_recursive_mutex> sync(m_mutex);
+  m_toleranceType = kPercentTolerance;
+  m_tolerance = percent;
+}
+
 /*
  * Set the number of previous error samples to average for tolerancing. When
  * determining whether a mechanism is on target, the user may want to use a
@@ -516,11 +518,11 @@ bool PIDController::OnTarget() const {
   double error = GetAvgError();
   switch (m_toleranceType) {
     case kPercentTolerance:
-      return fabs(error) <
+      return std::fabs(error) <
              m_tolerance / 100 * (m_maximumInput - m_minimumInput);
       break;
     case kAbsoluteTolerance:
-      return fabs(error) < m_tolerance;
+      return std::fabs(error) < m_tolerance;
       break;
     case kNoTolerance:
       // TODO: this case needs an error
diff --git a/wpilibc/sim/src/PIDController.cpp b/wpilibc/sim/src/PIDController.cpp
index d78508a866..59764a6267 100644
--- a/wpilibc/sim/src/PIDController.cpp
+++ b/wpilibc/sim/src/PIDController.cpp
@@ -6,7 +6,9 @@
 /*----------------------------------------------------------------------------*/
 
 #include "PIDController.h"
-#include <math.h>
+
+#include <cmath>
+
 #include "Notifier.h"
 #include "PIDOutput.h"
 #include "PIDSource.h"
@@ -122,7 +124,7 @@ void PIDController::Calculate() {
       std::lock_guard<priority_recursive_mutex> sync(m_mutex);
       m_error = m_setpoint - input;
       if (m_continuous) {
-        if (fabs(m_error) > (m_maximumInput - m_minimumInput) / 2) {
+        if (std::fabs(m_error) > (m_maximumInput - m_minimumInput) / 2) {
           if (m_error > 0) {
             m_error = m_error - m_maximumInput + m_minimumInput;
           } else {
@@ -455,18 +457,6 @@ void PIDController::SetTolerance(float percent) {
   m_tolerance = percent;
 }
 
-/**
- * Set the percentage error which is considered tolerable for use with
- * OnTarget.
- *
- * @param percent percentage error which is tolerable
- */
-void PIDController::SetPercentTolerance(float percent) {
-  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
-  m_toleranceType = kPercentTolerance;
-  m_tolerance = percent;
-}
-
 /**
  * Set the absolute error which is considered tolerable for use with
  * OnTarget.
@@ -479,6 +469,18 @@ void PIDController::SetAbsoluteTolerance(float absTolerance) {
   m_tolerance = absTolerance;
 }
 
+/**
+ * Set the percentage error which is considered tolerable for use with
+ * OnTarget.
+ *
+ * @param percent percentage error which is tolerable
+ */
+void PIDController::SetPercentTolerance(float percent) {
+  std::lock_guard<priority_recursive_mutex> lock(m_mutex);
+  m_toleranceType = kPercentTolerance;
+  m_tolerance = percent;
+}
+
 /**
  * Set the number of previous error samples to average for tolerancing.
  *
@@ -515,11 +517,11 @@ bool PIDController::OnTarget() const {
   double error = GetError();
   switch (m_toleranceType) {
     case kPercentTolerance:
-      return fabs(error) <
+      return std::fabs(error) <
              m_tolerance / 100 * (m_maximumInput - m_minimumInput);
       break;
     case kAbsoluteTolerance:
-      return fabs(error) < m_tolerance;
+      return std::fabs(error) < m_tolerance;
       break;
     case kNoTolerance:  // TODO: this case needs an error
       return false;