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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
248
wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp
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248
wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "Commands/PIDSubsystem.h"
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#include "PIDController.h"
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using namespace frc;
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/**
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* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
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* values.
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*
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* @param name the name
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* @param p the proportional value
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* @param i the integral value
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* @param d the derivative value
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*/
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PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
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double d)
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: Subsystem(name) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this);
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}
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/**
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* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
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* values.
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*
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* @param name the name
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* @param p the proportional value
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* @param i the integral value
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* @param d the derivative value
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* @param f the feedforward value
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*/
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PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
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double d, double f)
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: Subsystem(name) {
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m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
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}
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/**
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* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
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* values.
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*
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* It will also space the time between PID loop calculations to be equal to the
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* given period.
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*
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* @param name the name
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* @param p the proportional value
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* @param i the integral value
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* @param d the derivative value
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* @param f the feedfoward value
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* @param period the time (in seconds) between calculations
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*/
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PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
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double d, double f, double period)
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: Subsystem(name) {
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m_controller =
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std::make_shared<PIDController>(p, i, d, f, this, this, period);
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}
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/**
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* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
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* values.
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*
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* It will use the class name as its name.
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*
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* @param p the proportional value
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* @param i the integral value
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* @param d the derivative value
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*/
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PIDSubsystem::PIDSubsystem(double p, double i, double d)
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: Subsystem("PIDSubsystem") {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this);
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}
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/**
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* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
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* values.
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*
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* It will use the class name as its name.
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*
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* @param p the proportional value
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* @param i the integral value
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* @param d the derivative value
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* @param f the feedforward value
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*/
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PIDSubsystem::PIDSubsystem(double p, double i, double d, double f)
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: Subsystem("PIDSubsystem") {
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m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
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}
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/**
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* Instantiates a {@link PIDSubsystem} that will use the given p, i and d
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* values.
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*
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* It will use the class name as its name. It will also space the time
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* between PID loop calculations to be equal to the given period.
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*
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* @param p the proportional value
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* @param i the integral value
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* @param d the derivative value
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* @param f the feedforward value
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* @param period the time (in seconds) between calculations
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*/
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PIDSubsystem::PIDSubsystem(double p, double i, double d, double f,
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double period)
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: Subsystem("PIDSubsystem") {
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m_controller =
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std::make_shared<PIDController>(p, i, d, f, this, this, period);
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}
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/**
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* Enables the internal {@link PIDController}.
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*/
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void PIDSubsystem::Enable() { m_controller->Enable(); }
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/**
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* Disables the internal {@link PIDController}.
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*/
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void PIDSubsystem::Disable() { m_controller->Disable(); }
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/**
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* Returns the {@link PIDController} used by this {@link PIDSubsystem}.
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*
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* Use this if you would like to fine tune the pid loop.
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*
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* @return the {@link PIDController} used by this {@link PIDSubsystem}
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*/
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std::shared_ptr<PIDController> PIDSubsystem::GetPIDController() {
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return m_controller;
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}
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/**
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* Sets the setpoint to the given value.
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*
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* If {@link PIDCommand#SetRange(double, double) SetRange(...)} was called,
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* then the given setpoint will be trimmed to fit within the range.
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*
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* @param setpoint the new setpoint
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*/
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void PIDSubsystem::SetSetpoint(double setpoint) {
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m_controller->SetSetpoint(setpoint);
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}
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/**
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* Adds the given value to the setpoint.
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*
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* If {@link PIDCommand#SetRange(double, double) SetRange(...)} was used,
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* then the bounds will still be honored by this method.
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*
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* @param deltaSetpoint the change in the setpoint
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*/
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void PIDSubsystem::SetSetpointRelative(double deltaSetpoint) {
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SetSetpoint(GetSetpoint() + deltaSetpoint);
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}
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/**
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* Return the current setpoint.
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*
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* @return The current setpoint
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*/
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double PIDSubsystem::GetSetpoint() { return m_controller->GetSetpoint(); }
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/**
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* Sets the maximum and minimum values expected from the input.
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*
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* @param minimumInput the minimum value expected from the input
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* @param maximumInput the maximum value expected from the output
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*/
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void PIDSubsystem::SetInputRange(double minimumInput, double maximumInput) {
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m_controller->SetInputRange(minimumInput, maximumInput);
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}
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/**
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* Sets the maximum and minimum values to write.
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*
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* @param minimumOutput the minimum value to write to the output
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* @param maximumOutput the maximum value to write to the output
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*/
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void PIDSubsystem::SetOutputRange(double minimumOutput, double maximumOutput) {
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m_controller->SetOutputRange(minimumOutput, maximumOutput);
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}
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/**
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* Set the absolute error which is considered tolerable for use with
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* OnTarget.
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*
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* @param absValue absolute error which is tolerable
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*/
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void PIDSubsystem::SetAbsoluteTolerance(double absValue) {
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m_controller->SetAbsoluteTolerance(absValue);
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}
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/**
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* Set the percentage error which is considered tolerable for use with OnTarget.
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*
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* @param percent percentage error which is tolerable
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*/
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void PIDSubsystem::SetPercentTolerance(double percent) {
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m_controller->SetPercentTolerance(percent);
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}
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/**
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* Return true if the error is within the percentage of the total input range,
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* determined by SetTolerance.
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*
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* This asssumes that the maximum and minimum input were set using SetInput.
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* Use OnTarget() in the IsFinished() method of commands that use this
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* subsystem.
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*
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* Currently this just reports on target as the actual value passes through the
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* setpoint. Ideally it should be based on being within the tolerance for some
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* period of time.
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*
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* @return true if the error is within the percentage tolerance of the input
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* range
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*/
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bool PIDSubsystem::OnTarget() const { return m_controller->OnTarget(); }
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/**
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* Returns the current position.
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*
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* @return the current position
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*/
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double PIDSubsystem::GetPosition() { return ReturnPIDInput(); }
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/**
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* Returns the current rate.
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*
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* @return the current rate
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*/
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double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
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void PIDSubsystem::PIDWrite(double output) { UsePIDOutput(output); }
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double PIDSubsystem::PIDGet() { return ReturnPIDInput(); }
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std::string PIDSubsystem::GetSmartDashboardType() const { return "PIDCommand"; }
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void PIDSubsystem::InitTable(std::shared_ptr<ITable> subtable) {
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m_controller->InitTable(subtable);
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Subsystem::InitTable(subtable);
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}
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