Fix ordering of windup args to control_toolbox::Pid

[nbbrooks]

Description

The control_toolbox::Pid constructor expects i_max followed by i_min (and does not check that the former is greater than the latter). The current arguments are passed in reverse order and this PR addresses that.

This work is sponsored by RE2 Robotics.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[AndyZe]

Badly needed. Thanks!

[rhaschke]

@nbbrooks, I cannot follow your argumentation: The linked doc to the Pid constructor, lists i_max before i_min. So, if I'm not completely mistaken, the current order was fine any our PR willb break it. What do I miss?

[AndyZe]

Please take a quick second look. Here's the constructor definition:

control_toolbox::Pid::Pid  ( double p = 0.0, double i = 0.0, double d = 0.0, double i_max = 0.0, double i_min = -0.0, bool antiwindup = false)  

Here's Nathan's change:

pid_vector.push_back(control_toolbox::Pid(pid_config.k_p, pid_config.k_i, pid_config.k_d, pid_config.windup_limit,
                                            -pid_config.windup_limit, use_anti_windup));

(The negative value is the second-to-last arg.) Also, we were testing this on a robot 2 days ago, so it was really obvious that it was wrong.

[rhaschke]

Sorry. I'm too tired...