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Remove PIDControllerRunner and mutex from new PIDController (#1795)

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Teams that wish to use it asynchronously may still do so - they simply need to handle the thread safety themselves (it is not that difficult, and can be done more cleanly in the calling code anyway).
This commit is contained in:
Oblarg
2019-08-04 03:01:11 -04:00
committed by Peter Johnson
parent 98d0706de8
commit c9873e81b2
11 changed files with 165 additions and 706 deletions
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21
wpilibc/src/main/native/include/frc/controller/PIDController.h
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@@ -10,8 +10,6 @@
#include <functional>
#include <limits>
#include <wpi/mutex.h>
#include "frc/smartdashboard/SendableBase.h"
namespace frc2 {
@@ -36,8 +34,10 @@ class PIDController : public frc::SendableBase {
~PIDController() override = default;
PIDController(PIDController&& rhs);
PIDController& operator=(PIDController&& rhs);
PIDController(const PIDController&) = default;
PIDController& operator=(const PIDController&) = default;
PIDController(PIDController&&) = default;
PIDController& operator=(PIDController&&) = default;
/**
* Sets the PID Controller gain parameters.
@@ -233,11 +233,9 @@ class PIDController : public frc::SendableBase {
void InitSendable(frc::SendableBuilder& builder) override;
protected:
mutable wpi::mutex m_thisMutex;
/**
* Wraps error around for continuous inputs. The original error is returned if
* continuous mode is disabled. This is an unsynchronized function.
* continuous mode is disabled.
*
* @param error The current error of the PID controller.
* @return Error for continuous inputs.
@@ -293,15 +291,6 @@ class PIDController : public frc::SendableBase {
double m_setpoint = 0;
double m_output = 0;
/**
* Returns the next output of the PID controller.
*
* Unlike the public functions above, this function doesn't lock the mutex.
*
* @param measurement The current measurement of the process variable.
*/
double CalculateUnsafe(double measurement);
};
} // namespace frc2