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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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4
wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
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@@ -140,7 +140,7 @@ TEST_P(MotorEncoderTest, PositionPIDController) {
Reset();
double goal = 1000;
frc2::PIDController pidController(0.001, 0.01, 0.0);
pidController.SetAbsoluteTolerance(50.0);
pidController.SetTolerance(50.0);
pidController.SetOutputRange(-0.2, 0.2);
pidController.SetSetpoint(goal);
@@ -166,7 +166,7 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
Reset();
frc2::PIDController pidController(1e-5, 0.0, 0.0006);
pidController.SetAbsoluteTolerance(200.0);
pidController.SetTolerance(200.0);
pidController.SetOutputRange(-0.3, 0.3);
pidController.SetSetpoint(600);