Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Miscellaneous cleanups for wpilibc PID controller (#175)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

34
wpilibc/sim/src/PIDController.cpp
View File

@@ -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;