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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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24
wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
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@@ -9,11 +9,11 @@
#include "frc/Encoder.h"
#include "frc/Jaguar.h"
#include "frc/LinearFilter.h"
#include "frc/Notifier.h"
#include "frc/Talon.h"
#include "frc/Timer.h"
#include "frc/Victor.h"
#include "frc/controller/PIDController.h"
#include "frc/controller/PIDControllerRunner.h"
#include "gtest/gtest.h"
using namespace frc;
@@ -145,12 +145,12 @@ TEST_P(MotorEncoderTest, PositionPIDController) {
pidController.SetSetpoint(goal);
/* 10 seconds should be plenty time to get to the reference */
frc::PIDControllerRunner pidRunner(
pidController, [&] { return m_encoder->GetDistance(); },
[&](double output) { m_speedController->Set(output); });
pidRunner.Enable();
frc::Notifier pidRunner{[this, &pidController] {
m_speedController->Set(pidController.Calculate(m_encoder->GetDistance()));
}};
pidRunner.StartPeriodic(pidController.GetPeriod());
Wait(10.0);
pidRunner.Disable();
pidRunner.Stop();
RecordProperty("PIDError", pidController.GetError());
@@ -171,12 +171,14 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
pidController.SetSetpoint(600);
/* 10 seconds should be plenty time to get to the reference */
frc::PIDControllerRunner pidRunner(
pidController, [&] { return m_filter->Calculate(m_encoder->GetRate()); },
[&](double output) { m_speedController->Set(output + 8e-5); });
pidRunner.Enable();
frc::Notifier pidRunner{[this, &pidController] {
m_speedController->Set(
pidController.Calculate(m_filter->Calculate(m_encoder->GetRate())) +
8e-5);
}};
pidRunner.StartPeriodic(pidController.GetPeriod());
Wait(10.0);
pidRunner.Disable();
pidRunner.Stop();
RecordProperty("PIDError", pidController.GetError());
EXPECT_TRUE(pidController.AtSetpoint())