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Remove percent tolerance from PID controller

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It breaks the unit system badly; the tolerance member variable has
different units depending on percent vs absolute. Absolute tolerance is
a lot more natural than percent tolerance anyway.
This commit is contained in:
Tyler Veness
2019-08-25 13:01:51 -07:00
committed by Peter Johnson
parent 0ca8d667d2
commit ff8b8f0a8a
29 changed files with 121 additions and 507 deletions
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49
wpilibc/src/main/native/cpp/controller/PIDController.cpp
View File

@@ -51,31 +51,9 @@ void PIDController::SetSetpoint(double setpoint) {
double PIDController::GetSetpoint() const { return m_setpoint; }
bool PIDController::AtSetpoint(double positionTolerance,
double velocityTolerance,
Tolerance toleranceType) const {
if (m_toleranceType == Tolerance::kPercent) {
return std::abs(m_positionError) < positionTolerance / 100 * m_inputRange &&
std::abs(m_velocityError) < velocityTolerance / 100 * m_inputRange;
} else {
return std::abs(m_positionError) < positionTolerance &&
std::abs(m_velocityError) < velocityTolerance;
}
}
bool PIDController::AtSetpoint() const {
return AtSetpoint(m_positionTolerance, m_velocityTolerance);
}
void PIDController::SetInputRange(double minimumInput, double maximumInput) {
m_minimumInput = minimumInput;
m_maximumInput = maximumInput;
m_inputRange = maximumInput - minimumInput;
// Clamp setpoint to new input range
if (m_maximumInput > m_minimumInput) {
m_setpoint = std::clamp(m_setpoint, m_minimumInput, m_maximumInput);
}
return std::abs(m_positionError) < m_positionTolerance &&
std::abs(m_velocityError) < m_velocityTolerance;
}
void PIDController::EnableContinuousInput(double minimumInput,
@@ -91,16 +69,8 @@ void PIDController::SetOutputRange(double minimumOutput, double maximumOutput) {
m_maximumOutput = maximumOutput;
}
void PIDController::SetAbsoluteTolerance(double positionTolerance,
double velocityTolerance) {
m_toleranceType = Tolerance::kAbsolute;
m_positionTolerance = positionTolerance;
m_velocityTolerance = velocityTolerance;
}
void PIDController::SetPercentTolerance(double positionTolerance,
double velocityTolerance) {
m_toleranceType = Tolerance::kPercent;
void PIDController::SetTolerance(double positionTolerance,
double velocityTolerance) {
m_positionTolerance = positionTolerance;
m_velocityTolerance = velocityTolerance;
}
@@ -164,3 +134,14 @@ double PIDController::GetContinuousError(double error) const {
return error;
}
void PIDController::SetInputRange(double minimumInput, double maximumInput) {
m_minimumInput = minimumInput;
m_maximumInput = maximumInput;
m_inputRange = maximumInput - minimumInput;
// Clamp setpoint to new input range
if (m_maximumInput > m_minimumInput) {
m_setpoint = std::clamp(m_setpoint, m_minimumInput, m_maximumInput);
}
}

30
wpilibc/src/main/native/cpp/controller/ProfiledPIDController.cpp
View File

@@ -43,13 +43,6 @@ units::meter_t ProfiledPIDController::GetGoal() const {
return m_goal.position;
}
bool ProfiledPIDController::AtGoal(
double positionTolerance, double velocityTolerance,
frc2::PIDController::Tolerance toleranceType) const {
return AtSetpoint(positionTolerance, velocityTolerance, toleranceType) &&
m_goal == m_setpoint;
}
bool ProfiledPIDController::AtGoal() const {
return AtSetpoint() && m_goal == m_setpoint;
}
@@ -63,22 +56,10 @@ double ProfiledPIDController::GetSetpoint() const {
return m_controller.GetSetpoint();
}
bool ProfiledPIDController::AtSetpoint(
double positionTolerance, double velocityTolerance,
frc2::PIDController::Tolerance toleranceType) const {
return m_controller.AtSetpoint(positionTolerance, velocityTolerance,
toleranceType);
}
bool ProfiledPIDController::AtSetpoint() const {
return m_controller.AtSetpoint();
}
void ProfiledPIDController::SetInputRange(double minimumInput,
double maximumInput) {
m_controller.SetInputRange(minimumInput, maximumInput);
}
void ProfiledPIDController::EnableContinuousInput(double minimumInput,
double maximumInput) {
m_controller.EnableContinuousInput(minimumInput, maximumInput);
@@ -93,14 +74,9 @@ void ProfiledPIDController::SetOutputRange(double minimumOutput,
m_controller.SetOutputRange(minimumOutput, maximumOutput);
}
void ProfiledPIDController::SetAbsoluteTolerance(double positionTolerance,
double velocityTolerance) {
m_controller.SetAbsoluteTolerance(positionTolerance, velocityTolerance);
}
void ProfiledPIDController::SetPercentTolerance(double positionTolerance,
double velocityTolerance) {
m_controller.SetPercentTolerance(positionTolerance, velocityTolerance);
void ProfiledPIDController::SetTolerance(double positionTolerance,
double velocityTolerance) {
m_controller.SetTolerance(positionTolerance, velocityTolerance);
}
double ProfiledPIDController::GetPositionError() const {