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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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34
wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java
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@@ -139,7 +139,16 @@ public class ProfiledPIDController implements Sendable {
/**
* Sets the goal for the ProfiledPIDController.
*
* @param goal The desired unprofiled setpoint.
* @param goal The desired goal state.
*/
public void setGoal(TrapezoidProfile.State goal) {
m_goal = goal;
}
/**
* Sets the goal for the ProfiledPIDController.
*
* @param goal The desired goal position.
*/
public void setGoal(double goal) {
m_goal = new TrapezoidProfile.State(goal, 0);
@@ -148,8 +157,8 @@ public class ProfiledPIDController implements Sendable {
/**
* Gets the goal for the ProfiledPIDController.
*/
public double getGoal() {
return m_goal.position;
public TrapezoidProfile.State getGoal() {
return m_goal;
}
/**
@@ -175,8 +184,8 @@ public class ProfiledPIDController implements Sendable {
*
* @return The current setpoint.
*/
public double getSetpoint() {
return m_controller.getSetpoint();
public TrapezoidProfile.State getSetpoint() {
return m_setpoint;
}
/**
@@ -274,6 +283,17 @@ public class ProfiledPIDController implements Sendable {
* @param measurement The current measurement of the process variable.
* @param goal The new goal of the controller.
*/
public double calculate(double measurement, TrapezoidProfile.State goal) {
setGoal(goal);
return calculate(measurement);
}
/**
* Returns the next output of the PIDController.
*
* @param measurement The current measurement of the process variable.
* @param goal The new goal of the controller.
*/
public double calculate(double measurement, double goal) {
setGoal(goal);
return calculate(measurement);
@@ -286,7 +306,7 @@ public class ProfiledPIDController implements Sendable {
* @param goal The new goal of the controller.
* @param constraints Velocity and acceleration constraints for goal.
*/
public double calculate(double measurement, double goal,
public double calculate(double measurement, TrapezoidProfile.State goal,
TrapezoidProfile.Constraints constraints) {
setConstraints(constraints);
return calculate(measurement, goal);
@@ -305,6 +325,6 @@ public class ProfiledPIDController implements Sendable {
builder.addDoubleProperty("p", this::getP, this::setP);
builder.addDoubleProperty("i", this::getI, this::setI);
builder.addDoubleProperty("d", this::getD, this::setD);
builder.addDoubleProperty("goal", this::getGoal, this::setGoal);
builder.addDoubleProperty("goal", () -> getGoal().position, this::setGoal);
}
}