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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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10
wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
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@@ -31,7 +31,8 @@ class Robot : public frc::TimedRobot {
// Create a motion profile with the given maximum velocity and maximum
// acceleration constraints for the next setpoint, the desired goal, and the
// current setpoint.
frc::TrapezoidProfile profile{m_constraints, m_goal, m_setpoint};
frc::TrapezoidProfile<units::meter> profile{m_constraints, m_goal,
m_setpoint};
// Retrieve the profiled setpoint for the next timestep. This setpoint moves
// toward the goal while obeying the constraints.
@@ -49,9 +50,10 @@ class Robot : public frc::TimedRobot {
frc::PWMVictorSPX m_motor{1};
frc2::PIDController m_controller{1.3, 0.0, 0.7, kDt};
frc::TrapezoidProfile::Constraints m_constraints{1.75_mps, 0.75_mps_sq};
frc::TrapezoidProfile::State m_goal;
frc::TrapezoidProfile::State m_setpoint;
frc::TrapezoidProfile<units::meters>::Constraints m_constraints{1.75_mps,
0.75_mps_sq};
frc::TrapezoidProfile<units::meters>::State m_goal;
frc::TrapezoidProfile<units::meters>::State m_setpoint;
};
#ifndef RUNNING_FRC_TESTS