4 Commits

Author	SHA1	Message	Date
Peter Johnson	8f1f64ffb6	Remove year from file copyright message (NFC) (#2972) ... Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.	2020-12-26 14:12:05 -08:00
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