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PIDController.setIntegratorRange documentation fix #6489

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May 24, 2024
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PIDController.setIntegratorRange documentation fix #6489

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5c690f4
Correct the documentation of PIDController.setIntegratorRange; Java a…
chauser Mar 29, 2024
521f4f0
format and run tests
chauser Mar 29, 2024
1793f40
Same changes made to ProfiledPIDController
chauser Mar 30, 2024
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10 changes: 5 additions & 5 deletions wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -313,13 +313,13 @@ public boolean isContinuousInputEnabled() {
}

/**
* Sets the minimum and maximum values for the integrator.
* Sets the minimum and maximum contributions of the integral term.
*
* <p>When the cap is reached, the integrator value is added to the controller output rather than
* the integrator value times the integral gain.
* <p>The internal integrator is clamped so that the integral term's contribution to the output
* stays between minimumIntegral and maximumIntegral. This prevents integral windup.
*
* @param minimumIntegral The minimum value of the integrator.
* @param maximumIntegral The maximum value of the integrator.
* @param minimumIntegral The minimum contribution of the integral term.
* @param maximumIntegral The maximum contribution of the integral term.
*/
public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
m_minimumIntegral = minimumIntegral;
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10 changes: 5 additions & 5 deletions wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
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Expand Up @@ -284,13 +284,13 @@ public void disableContinuousInput() {
}

/**
* Sets the minimum and maximum values for the integrator.
* Sets the minimum and maximum contributions of the integral term.
*
* <p>When the cap is reached, the integrator value is added to the controller output rather than
* the integrator value times the integral gain.
* <p>The internal integrator is clamped so that the integral term's contribution to the output
* stays between minimumIntegral and maximumIntegral. This prevents integral windup.
*
* @param minimumIntegral The minimum value of the integrator.
* @param maximumIntegral The maximum value of the integrator.
* @param minimumIntegral The minimum contribution of the integral term.
* @param maximumIntegral The maximum contribution of the integral term.
*/
public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
m_controller.setIntegratorRange(minimumIntegral, maximumIntegral);
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11 changes: 6 additions & 5 deletions wpimath/src/main/native/include/frc/controller/PIDController.h
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Expand Up @@ -179,13 +179,14 @@ class WPILIB_DLLEXPORT PIDController
bool IsContinuousInputEnabled() const;

/**
* Sets the minimum and maximum values for the integrator.
* Sets the minimum and maximum contributions of the integral term.
*
* When the cap is reached, the integrator value is added to the controller
* output rather than the integrator value times the integral gain.
* The internal integrator is clamped so that the integral term's contribution
* to the output stays between minimumIntegral and maximumIntegral. This
* prevents integral windup.
*
* @param minimumIntegral The minimum value of the integrator.
* @param maximumIntegral The maximum value of the integrator.
* @param minimumIntegral The minimum contribution of the integral term.
* @param maximumIntegral The maximum contribution of the integral term.
*/
void SetIntegratorRange(double minimumIntegral, double maximumIntegral);

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11 changes: 6 additions & 5 deletions wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
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Expand Up @@ -257,13 +257,14 @@ class ProfiledPIDController
void DisableContinuousInput() { m_controller.DisableContinuousInput(); }

/**
* Sets the minimum and maximum values for the integrator.
* Sets the minimum and maximum contributions of the integral term.
*
* When the cap is reached, the integrator value is added to the controller
* output rather than the integrator value times the integral gain.
* The internal integrator is clamped so that the integral term's contribution
* to the output stays between minimumIntegral and maximumIntegral. This
* prevents integral windup.
*
* @param minimumIntegral The minimum value of the integrator.
* @param maximumIntegral The maximum value of the integrator.
* @param minimumIntegral The minimum contribution of the integral term.
* @param maximumIntegral The maximum contribution of the integral term.
*/
void SetIntegratorRange(double minimumIntegral, double maximumIntegral) {
m_controller.SetIntegratorRange(minimumIntegral, maximumIntegral);
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