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Miscellaneous cleanups for wpilibc PID controller (#175)

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

* Added std:: prefix to fabs() calls in wpilibc PIDController
This commit is contained in:
Tyler Veness
2016-07-14 13:51:32 -07:00
committed by Peter Johnson
parent dffaa0abb9
commit c93b5bedf9
2 changed files with 36 additions and 32 deletions
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34
wpilibc/athena/src/PIDController.cpp
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@@ -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