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artf4127: Implemented velocity PID controller

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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
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7
wpilibc/wpilibC++Sim/src/Encoder.cpp
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@@ -34,7 +34,6 @@ void Encoder::InitEncoder(int channelA, int channelB, bool reverseDirection, Enc
int32_t index = 0;
m_distancePerPulse = 1.0;
m_pidSource = kDistance;
LiveWindow::GetInstance().AddSensor("Encoder", channelA, this);
@@ -309,7 +308,7 @@ void Encoder::SetReverseDirection(bool reverseDirection)
*
* @param pidSource An enum to select the parameter.
*/
void Encoder::SetPIDSourceParameter(PIDSourceParameter pidSource)
void Encoder::SetPIDSourceType(PIDSourceType pidSource)
{
m_pidSource = pidSource;
}
@@ -323,9 +322,9 @@ double Encoder::PIDGet() const
{
switch (m_pidSource)
{
case kDistance:
case PIDSourceType::kDisplacement:
return GetDistance();
case kRate:
case PIDSourceType::kRate:
return GetRate();
default:
return 0.0;