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Update ProfiledPIDController API (#1967)

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This commit is contained in:
Oblarg
2019-10-24 23:37:55 -04:00
committed by Peter Johnson
parent d04eb35465
commit cbe05e7e8a
5 changed files with 72 additions and 23 deletions
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29
wpilibc/src/main/native/cpp/controller/ProfiledPIDController.cpp
View File

@@ -35,12 +35,16 @@ units::second_t ProfiledPIDController::GetPeriod() const {
return m_controller.GetPeriod();
}
void ProfiledPIDController::SetGoal(TrapezoidProfile::State goal) {
m_goal = goal;
}
void ProfiledPIDController::SetGoal(units::meter_t goal) {
m_goal = {goal, 0_mps};
}
units::meter_t ProfiledPIDController::GetGoal() const {
return m_goal.position;
TrapezoidProfile::State ProfiledPIDController::GetGoal() const {
return m_goal;
}
bool ProfiledPIDController::AtGoal() const {
@@ -52,8 +56,8 @@ void ProfiledPIDController::SetConstraints(
m_constraints = constraints;
}
double ProfiledPIDController::GetSetpoint() const {
return m_controller.GetSetpoint();
TrapezoidProfile::State ProfiledPIDController::GetSetpoint() const {
return m_setpoint;
}
bool ProfiledPIDController::AtSetpoint() const {
@@ -87,20 +91,27 @@ double ProfiledPIDController::GetVelocityError() const {
return m_controller.GetVelocityError();
}
double ProfiledPIDController::Calculate(double measurement) {
double ProfiledPIDController::Calculate(units::meter_t measurement) {
frc::TrapezoidProfile profile{m_constraints, m_goal, m_setpoint};
m_setpoint = profile.Calculate(GetPeriod());
return m_controller.Calculate(measurement, m_setpoint.position.to<double>());
return m_controller.Calculate(measurement.to<double>(),
m_setpoint.position.to<double>());
}
double ProfiledPIDController::Calculate(double measurement,
double ProfiledPIDController::Calculate(units::meter_t measurement,
TrapezoidProfile::State goal) {
SetGoal(goal);
return Calculate(measurement);
}
double ProfiledPIDController::Calculate(units::meter_t measurement,
units::meter_t goal) {
SetGoal(goal);
return Calculate(measurement);
}
double ProfiledPIDController::Calculate(
double measurement, units::meter_t goal,
units::meter_t measurement, units::meter_t goal,
frc::TrapezoidProfile::Constraints constraints) {
SetConstraints(constraints);
return Calculate(measurement, goal);
@@ -117,6 +128,6 @@ void ProfiledPIDController::InitSendable(frc::SendableBuilder& builder) {
builder.AddDoubleProperty("d", [this] { return GetD(); },
[this](double value) { SetD(value); });
builder.AddDoubleProperty(
"goal", [this] { return GetGoal().to<double>(); },
"goal", [this] { return GetGoal().position.to<double>(); },
[this](double value) { SetGoal(units::meter_t{value}); });
}

25
wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
View File

@@ -108,6 +108,13 @@ class ProfiledPIDController : public Sendable,
*/
units::second_t GetPeriod() const;
/**
* Sets the goal for the ProfiledPIDController.
*
* @param goal The desired unprofiled setpoint.
*/
void SetGoal(TrapezoidProfile::State goal);
/**
* Sets the goal for the ProfiledPIDController.
*
@@ -118,7 +125,7 @@ class ProfiledPIDController : public Sendable,
/**
* Gets the goal for the ProfiledPIDController.
*/
units::meter_t GetGoal() const;
TrapezoidProfile::State GetGoal() const;
/**
* Returns true if the error is within the tolerance of the error.
@@ -139,7 +146,7 @@ class ProfiledPIDController : public Sendable,
*
* @return The current setpoint.
*/
double GetSetpoint() const;
TrapezoidProfile::State GetSetpoint() const;
/**
* Returns true if the error is within the tolerance of the error.
@@ -208,7 +215,7 @@ class ProfiledPIDController : public Sendable,
*
* @param measurement The current measurement of the process variable.
*/
double Calculate(double measurement);
double Calculate(units::meter_t measurement);
/**
* Returns the next output of the PID controller.
@@ -216,7 +223,15 @@ class ProfiledPIDController : public Sendable,
* @param measurement The current measurement of the process variable.
* @param goal The new goal of the controller.
*/
double Calculate(double measurement, units::meter_t goal);
double Calculate(units::meter_t measurement, TrapezoidProfile::State goal);
/**
* Returns the next output of the PID controller.
*
* @param measurement The current measurement of the process variable.
* @param goal The new goal of the controller.
*/
double Calculate(units::meter_t measurement, units::meter_t goal);
/**
* Returns the next output of the PID controller.
@@ -225,7 +240,7 @@ class ProfiledPIDController : public Sendable,
* @param goal The new goal of the controller.
* @param constraints Velocity and acceleration constraints for goal.
*/
double Calculate(double measurement, units::meter_t goal,
double Calculate(units::meter_t measurement, units::meter_t goal,
frc::TrapezoidProfile::Constraints constraints);
/**