Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-03 03:01:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

artf4127: Implemented velocity PID controller

Browse Source 
Change-Id: I8c0f84422f7ca0ac5c50fddb282fb3452ee1d491
This commit is contained in:
Tyler Veness
2015-07-14 20:37:52 -07:00
parent f0e3bb5164
commit d5922bb037
43 changed files with 532 additions and 241 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
wpilibc/wpilibC++Sim/include/Encoder.h
View File

@@ -53,7 +53,7 @@ public:
void SetReverseDirection(bool reverseDirection);
void SetSamplesToAverage(int samplesToAverage);
int GetSamplesToAverage() const;
void SetPIDSourceParameter(PIDSourceParameter pidSource);
void SetPIDSourceType(PIDSourceType pidSource);
double PIDGet() const override;
void UpdateTable() override;
@@ -80,7 +80,6 @@ private:
double m_distancePerPulse; // distance of travel for each encoder tick
EncodingType m_encodingType; // Encoding type
int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
PIDSourceParameter m_pidSource; // Encoder parameter that sources a PID controller
bool m_reverseDirection;
SimEncoder* impl;