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[wpimath] ProfiledPIDController: Add getConstraints (#5399)

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This commit is contained in:
Ryan Blue
2023-06-19 20:11:20 -04:00
committed by GitHub
parent 25ad5017a9
commit d6bd72d738
2 changed files with 15 additions and 0 deletions
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9
wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
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@@ -199,6 +199,15 @@ public class ProfiledPIDController implements Sendable {
m_constraints = constraints;
}
/**
* Get the velocity and acceleration constraints for this controller.
*
* @return Velocity and acceleration constraints.
*/
public TrapezoidProfile.Constraints getConstraints() {
return m_constraints;
}
/**
* Returns the current setpoint of the ProfiledPIDController.
*

6
wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
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@@ -185,6 +185,12 @@ class ProfiledPIDController
*/
void SetConstraints(Constraints constraints) { m_constraints = constraints; }
/**
* Get the velocity and acceleration constraints for this controller.
* @return Velocity and acceleration constraints.
*/
Constraints GetConstraints() { return m_constraints; }
/**
* Returns the current setpoint of the ProfiledPIDController.
*