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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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50
wpilibc/src/main/native/include/frc/controller/PIDController.h
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@@ -21,8 +21,6 @@ namespace frc2 {
*/
class PIDController : public frc::SendableBase {
public:
enum class Tolerance { kAbsolute, kPercent };
/**
* Allocates a PIDController with the given constants for Kp, Ki, and Kd.
*
@@ -116,20 +114,6 @@ class PIDController : public frc::SendableBase {
*/
double GetSetpoint() const;
/**
* Returns true if the error is within tolerance of the setpoint.
*
* This will return false until at least one input value has been computed.
*
* @param positionTolerance The maximum allowable position error.
* @param velocityTolerance The maximum allowable velocity error.
* @param toleranceType The type of tolerance specified.
*/
bool AtSetpoint(
double positionTolerance,
double velocityTolerance = std::numeric_limits<double>::infinity(),
Tolerance toleranceType = Tolerance::kAbsolute) const;
/**
* Returns true if the error is within the tolerance of the error.
*
@@ -137,14 +121,6 @@ class PIDController : public frc::SendableBase {
*/
bool AtSetpoint() const;
/**
* Sets the minimum and maximum values expected from the input.
*
* @param minimumInput The minimum value expected from the input.
* @param maximumInput The maximum value expected from the input.
*/
void SetInputRange(double minimumInput, double maximumInput);
/**
* Enables continuous input.
*
@@ -171,24 +147,12 @@ class PIDController : public frc::SendableBase {
void SetOutputRange(double minimumOutput, double maximumOutput);
/**
* Sets the absolute error which is considered tolerable for use with
* AtSetpoint().
* Sets the error which is considered tolerable for use with AtSetpoint().
*
* @param positionTolerance Position error which is tolerable.
* @param velociytTolerance Velocity error which is tolerable.
*/
void SetAbsoluteTolerance(
double positionTolerance,
double velocityTolerance = std::numeric_limits<double>::infinity());
/**
* Sets the percent error which is considered tolerable for use with
* AtSetpoint().
*
* @param positionTolerance Position error which is tolerable.
* @param velociytTolerance Velocity error which is tolerable.
*/
void SetPercentTolerance(
void SetTolerance(
double positionTolerance,
double velocityTolerance = std::numeric_limits<double>::infinity());
@@ -276,13 +240,19 @@ class PIDController : public frc::SendableBase {
// The sum of the errors for use in the integral calc
double m_totalError = 0;
Tolerance m_toleranceType = Tolerance::kAbsolute;
// The error that is considered at setpoint.
double m_positionTolerance = 0.05;
double m_velocityTolerance = std::numeric_limits<double>::infinity();
double m_setpoint = 0;
/**
* Sets the minimum and maximum values expected from the input.
*
* @param minimumInput The minimum value expected from the input.
* @param maximumInput The maximum value expected from the input.
*/
void SetInputRange(double minimumInput, double maximumInput);
};
} // namespace frc2