Fix PIDSubsystem setSetpoint behavior #4759
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No longer stores a temporary setpoint in PIDSubsystem, instead immediately sending to PIDController. This fixes an issue where the setpoint didn't take effect until the Subsystem Periodic method ran, and could cause commands to finish early if they were scheduled after the subsystem periodic method ran because it used the old setpoint. This is similar to wpilibsuite#4062 / wpilibsuite#4414 for ProfiledPIDSubsystem Fixes wpilibsuite/BetaTest#148
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Are there any similar caching issues in the other control algorithm commands/subsystems? |
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It looks like TrapezoidProfileSubsystem may have the same issue with setGoal, but I don't feel confident enough in how it works to fix and test. |
Starlight220
approved these changes
Dec 3, 2022
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No longer stores a temporary setpoint in PIDSubsystem, instead immediately sending to PIDController. This fixes an issue where the setpoint didn't take effect until the Subsystem Periodic method ran, and could cause commands to finish early if they were scheduled after the subsystem periodic method ran because it used the old setpoint.
This is similar to #4062 / #4414 for ProfiledPIDSubsystem Fixes wpilibsuite/BetaTest#148