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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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25
wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
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@@ -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);
/**