Fixed SoftwarePIDController checkTolerance and initTable #106
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
* Added a unit test for verifying the checkTolerance logic * Updated both SoftwarePIDController and the base method in Controller * Fixed a problem where no gains would be sent to the SmartDashboard
|
@rothso Thanks for the fixes! |
CarlinWilliamson
added a commit
to Team3132/strongback-java
that referenced
this pull request
Jun 30, 2020
Template for Pull Requests
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Hey again! My co-lead and I came across what we believe are two separate bugs in the SoftwarePIDController. Seeing as they're each relatively small to review, I hope you don't mind that I've combined them both into one PR.
The checkTolerance method is inaccurate. It checks to see if the input is less than the setpoint minus the tolerance, which means basically any input less than the setpoint is considered in tolerance. This had the ugly effect of causing our controller commands to prematurely finish. I've thrown in a regression test that verifies the method now works as intended.
The gains don't appear on the SmartDashboard. It looks like
this.table = tableis the culprit :) I compared this line to the corresponding line in the WPILib PIDController and I believe it should have been set tosubtable.