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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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30
wpilibc/src/main/native/cpp/controller/ProfiledPIDController.cpp
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@@ -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 {