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Template C++ TrapezoidProfile and ProfiledPIDController on units (#2109)

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This commit is contained in:
Oblarg
2019-11-20 23:11:46 -05:00
committed by Peter Johnson
parent f62e23f1af
commit fa85fbfc1c
16 changed files with 320 additions and 448 deletions
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33
wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
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@@ -19,8 +19,13 @@ namespace frc2 {
*
* @see ProfiledPIDController
*/
template <class Distance>
class ProfiledPIDSubsystem : public SubsystemBase {
using State = frc::TrapezoidProfile::State;
using Distance_t = units::unit_t<Distance>;
using Velocity =
units::compound_unit<Distance, units::inverse<units::seconds>>;
using Velocity_t = units::unit_t<Velocity>;
using State = frc::TrapezoidProfile<Distance>::State;
public:
/**
@@ -28,9 +33,15 @@ class ProfiledPIDSubsystem : public SubsystemBase {
*
* @param controller the ProfiledPIDController to use
*/
explicit ProfiledPIDSubsystem(frc::ProfiledPIDController controller);
explicit ProfiledPIDSubsystem(frc::ProfiledPIDController<Distance> controller)
: m_controller{controller} {}
void Periodic() override;
void Periodic() override {
if (m_enabled) {
UseOutput(m_controller.Calculate(GetMeasurement(), GetGoal()),
m_controller.GetSetpoint());
}
}
/**
* Uses the output from the ProfiledPIDController.
@@ -59,22 +70,30 @@ class ProfiledPIDSubsystem : public SubsystemBase {
/**
* Enables the PID control. Resets the controller.
*/
virtual void Enable();
virtual void Enable() {
m_controller.Reset();
m_enabled = true;
}
/**
* Disables the PID control. Sets output to zero.
*/
virtual void Disable();
virtual void Disable() {
UseOutput(0, State{Distance_t(0), Velocity_t(0)});
m_enabled = false;
}
/**
* Returns the ProfiledPIDController.
*
* @return The controller.
*/
frc::ProfiledPIDController& GetController();
frc::ProfiledPIDController<Distance>& GetController() {
return m_controller;
}
protected:
frc::ProfiledPIDController m_controller;
frc::ProfiledPIDController<Distance> m_controller;
bool m_enabled;
};
} // namespace frc2