Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[wpilib] Fix initial heading behavior in HolonomicDriveController #3290

Merged
merged 1 commit into from Apr 19, 2021
Merged

[wpilib] Fix initial heading behavior in HolonomicDriveController #3290

merged 1 commit into from Apr 19, 2021

Conversation

prateekma
Copy link
Member

@prateekma prateekma commented Apr 8, 2021 •
edited

Closes #3288

@prateekma prateekma added component: wpilibj WPILib Java component: wpilibc WPILib C++ type: fix Iterations on existing features or infrastructure. labels Apr 8, 2021
@prateekma prateekma requested a review from calcmogul April 8, 2021 02:16
@prateekma prateekma requested a review from a team as a code owner April 8, 2021 02:16
@prateekma prateekma mentioned this pull request Apr 8, 2021
Closed
@prateekma
Copy link
Member Author

prateekma commented Apr 8, 2021 •
edited

On second thought, it doesn't make much sense to reuse the same HolonomicDriveController instance for multiple trajectories anyway because the individual PIDControllers could also accumulate error. I removed the method to reset the initial heading manually.

calcmogul
calcmogul approved these changes Apr 15, 2021
View reviewed changes
Copy link
Member

@calcmogul calcmogul left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I guess this is easier than the alternative of forcing the user to call Reset() on the ProfiledPIDController themselves.

@PeterJohnson PeterJohnson merged commit aaf24e2 into wpilibsuite:main Apr 19, 2021
@prateekma prateekma deleted the holonomic-reset-heading branch April 19, 2021 04:00
@lidor51 lidor51 mentioned this pull request Nov 20, 2021
Closed
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@calcmogul calcmogul calcmogul approved these changes

Assignees
No one assigned
Labels
component: wpilibc WPILib C++ component: wpilibj WPILib Java type: fix Iterations on existing features or infrastructure.
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

Add setStartHeading method (or something similar) to Holonomic Drive Controller
3 participants
@prateekma @calcmogul @PeterJohnson