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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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9
wpilibc/src/test/native/cpp/controller/PIDInputOutputTest.cpp
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@@ -25,15 +25,6 @@ TEST_F(PIDInputOutputTest, OutputRangeTest) {
EXPECT_DOUBLE_EQ(50, controller->Calculate(0, 100));
}
TEST_F(PIDInputOutputTest, InputRangeTest) {
controller->SetP(1);
controller->SetOutputRange(-1000, 1000);
controller->SetInputRange(-50, 50);
EXPECT_DOUBLE_EQ(-100, controller->Calculate(100, 0));
EXPECT_DOUBLE_EQ(50, controller->Calculate(0, 100));
}
TEST_F(PIDInputOutputTest, ContinuousInputTest) {
controller->SetP(1);
controller->EnableContinuousInput(-180, 180);