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Commit Graph

Author	SHA1	Message	Date
Tyler Veness	a112b5e231	[wpilib] Fix ProfiledPIDController continuous input (#2652 ) There were three bugs: 1. The input range variables used in ProfiledPIDController::Calculate() weren't being updated 2. The modulus error calculation was incorrect. 3. The setpoint wasn't being wrapped like the goal, so the invariant that the error remains less than half the input range was violated. (Thanks to @CptJJ for pointing this out and suggesting a fix.)	2020-10-15 20:05:23 -07:00
Tyler Veness	d30d1088da	[wpiutil] Split units.h into separate headers for each unit (#2551 ) Closes #2508. Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>	2020-06-29 22:25:09 -07:00
Tyler Veness	84e300739c	Fix ProfiledPIDController profile direction for continuous input (#2279 ) Previously, it could take the long way around. This recomputes the profile goal with the shortest error, thus taking the shortest path. Also removed the setpoint clamping from PIDController::SetSetpoint() because it's unnecessary to make PIDController behave correctly for a modular arithmetic input, and it breaks the setpoint calculation in ProfiledPIDController otherwise. Fixes #2277.	2020-03-14 22:13:57 -07:00

Author

SHA1

Message

Date

Tyler Veness

a112b5e231

[wpilib] Fix ProfiledPIDController continuous input (#2652 )

There were three bugs:

1. The input range variables used in ProfiledPIDController::Calculate()
   weren't being updated
2. The modulus error calculation was incorrect.
3. The setpoint wasn't being wrapped like the goal, so the invariant
   that the error remains less than half the input range was violated.
   (Thanks to @CptJJ for pointing this out and suggesting a fix.)

2020-10-15 20:05:23 -07:00

Tyler Veness

d30d1088da

[wpiutil] Split units.h into separate headers for each unit (#2551 )

Closes #2508.

Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>

2020-06-29 22:25:09 -07:00

Tyler Veness

84e300739c

Fix ProfiledPIDController profile direction for continuous input (#2279 )

Previously, it could take the long way around. This recomputes the
profile goal with the shortest error, thus taking the shortest path.

Also removed the setpoint clamping from PIDController::SetSetpoint()
because it's unnecessary to make PIDController behave correctly for
a modular arithmetic input, and it breaks the setpoint calculation in
ProfiledPIDController otherwise.

Fixes #2277.

2020-03-14 22:13:57 -07:00

3 Commits