Remove percent tolerance from PID controller

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.

wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp

@@ -18,7 +18,7 @@ ShooterSubsystem::ShooterSubsystem()
       m_shooterMotor(kShooterMotorPort),
       m_feederMotor(kFeederMotorPort),
       m_shooterEncoder(kEncoderPorts[0], kEncoderPorts[1]) {
-  m_controller.SetAbsoluteTolerance(kShooterToleranceRPS);
+  m_controller.SetTolerance(kShooterToleranceRPS);
   m_shooterEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
 }
 

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp

@@ -18,7 +18,7 @@ DriveStraight::DriveStraight(double distance, DriveTrain* drivetrain)
           [this](double output) { m_drivetrain->Drive(output, output); },
           {drivetrain}),
       m_drivetrain(drivetrain) {
-  m_controller.SetAbsoluteTolerance(0.01);
+  m_controller.SetTolerance(0.01);
 }
 
 // Called just before this Command runs the first time

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp

@@ -18,7 +18,7 @@ SetDistanceToBox::SetDistanceToBox(double distance, DriveTrain* drivetrain)
           [this](double output) { m_drivetrain->Drive(output, output); },
           {drivetrain}),
       m_drivetrain(drivetrain) {
-  m_controller.SetAbsoluteTolerance(0.01);
+  m_controller.SetTolerance(0.01);
 }
 
 // Called just before this Command runs the first time

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp

@@ -16,7 +16,7 @@ Elevator::Elevator()
 #ifdef SIMULATION  // Check for simulation and update PID values
   GetPIDController()->SetPID(kP_simulation, kI_simulation, 0, 0);
 #endif
-  m_controller.SetAbsoluteTolerance(0.005);
+  m_controller.SetTolerance(0.005);
 
   SetName("Elevator");
   // Let's show everything on the LiveWindow

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp

@@ -14,7 +14,7 @@ Wrist::Wrist() : frc2::PIDSubsystem(frc2::PIDController(kP_real, 0, 0)) {
 #ifdef SIMULATION  // Check for simulation and update PID values
   GetPIDController()->SetPID(kP_simulation, 0, 0, 0);
 #endif
-  m_controller.SetAbsoluteTolerance(2.5);
+  m_controller.SetTolerance(2.5);
 
   SetName("Wrist");
   // Let's show everything on the LiveWindow

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp

@@ -26,8 +26,7 @@ TurnToAngle::TurnToAngle(double targetAngleDegrees, DriveSubsystem* drive)
   // Set the controller tolerance - the delta tolerance ensures the robot is
   // stationary at the setpoint before it is considered as having reached the
   // reference
-  m_controller.SetAbsoluteTolerance(kTurnToleranceDeg,
-                                    kTurnRateToleranceDegPerS);
+  m_controller.SetTolerance(kTurnToleranceDeg, kTurnRateToleranceDegPerS);
 
   AddRequirements({drive});
 }

wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp

@@ -20,8 +20,6 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override { m_pidController.SetInputRange(0, 5); }
-
   void TeleopPeriodic() override {
     // When the button is pressed once, the selected elevator setpoint is
     // incremented.

wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp

@@ -22,10 +22,6 @@ class Robot : public frc::TimedRobot {
    * ultrasonic sensor.
    */
   void TeleopInit() override {
-    // Set expected range to 0-24 inches; e.g. at 24 inches from object go full
-    // forward, at 0 inches from object go full backward.
-    m_pidController.SetInputRange(0, 24 * kValueToInches);
-
     // Set setpoint of the PID Controller
     m_pidController.SetSetpoint(kHoldDistance * kValueToInches);
   }