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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
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@@ -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);
}
}