changed names for PID.hpp EZ-Robotics#65

docs/Docs/auton_functions.md

@@ -348,7 +348,7 @@ void initialize() {
 ---
 
 
-## set_exit_condition()
+## exit_condition_set()
 Sets the exit condition constants. This uses the exit conditions from the PID class.  Below is the defaults.  
 `type` either `chassis.turn_exit`, `chassis.swing_exit`, or `chassis.drive_exit`  
 `p_small_exit_time` time, in ms, before exiting `p_small_error`  
@@ -359,16 +359,16 @@ Sets the exit condition constants. This uses the exit conditions from the PID cl
 `p_mA_timeout` time, in ms, for `is_over_current` to be true       
 **Prototype**
 ```cpp
-void set_exit_condition(exit_condition_ &type, int p_small_exit_time, double p_small_error, int p_big_exit_time, double p_big_error, int p_velocity_exit_time, int p_mA_timeout);
+void exit_condition_set(exit_condition_ &type, int p_small_exit_time, double p_small_error, int p_big_exit_time, double p_big_error, int p_velocity_exit_time, int p_mA_timeout);
 
 ```
 
 **Example**
 ```cpp
 void initialize() {
-  chassis.set_exit_condition(chassis.turn_exit,  100, 3,  500, 7,   500, 500);
-  chassis.set_exit_condition(chassis.swing_exit, 100, 3,  500, 7,   500, 500);
-  chassis.set_exit_condition(chassis.drive_exit, 80,  50, 300, 150, 500, 500);
+  chassis.exit_condition_set(chassis.turn_exit,  100, 3,  500, 7,   500, 500);
+  chassis.exit_condition_set(chassis.swing_exit, 100, 3,  500, 7,   500, 500);
+  chassis.exit_condition_set(chassis.drive_exit, 80,  50, 300, 150, 500, 500);
 }
 ```
 

docs/Docs/pid.md

@@ -55,22 +55,22 @@ PID liftPID{1, 0.003, 4, 100, "Lift"};
 
 # Functions
 
-## set_constants()
+## constants_set()
 Sets PID constants.  
 `p` kP
 `i` kI
 `d` kD
 `p_start_i` i will start when error is within this    
 **Prototype**
 ```cpp
-void set_constants(double p, double i = 0, double d = 0, double p_start_i = 0);
+void constants_set(double p, double i = 0, double d = 0, double p_start_i = 0);
 ```
 
 **Example** 
 ```cpp
 PID liftPID;
 void initialize() {
-  liftPID.set_constants(1, 0, 4);
+  liftPID.constants_set(1, 0, 4);
 }
 ```
 
@@ -80,11 +80,11 @@ void initialize() {
 
 
 
-## set_target()
+## target_set()
 Sets PID target.   
 **Prototype**
 ```cpp
-void set_target(double input);
+void target_set(double input);
 ```
 
 **Example** 
@@ -94,10 +94,10 @@ pros::Motor lift_motor(1);
 void opcontrol() {
   while (true) {
     if (master.get_digital(DIGITAL_L1)) {
-      liftPID.set_target(500);
+      liftPID.target_set(500);
     }
     else if (master.get_digital(DIGITAL_L2)) {
-      liftPID.set_target(0);
+      liftPID.target_set(0);
     }
     lift_motor = liftPID.compute(lift_motor.get_position());
 
@@ -111,7 +111,7 @@ void opcontrol() {
 
 
 
-## set_exit_condition()
+## exit_condition_set()
 Sets the exit condition constants.  To disable one of the conditions, set the constants relating to it to `0`.    
 `p_small_exit_time` time, in ms, before exiting `p_small_error`  
 `p_small_error` small error threshold  
@@ -121,15 +121,15 @@ Sets the exit condition constants.  To disable one of the conditions, set the co
 `p_mA_timeout` time, in ms, for `is_over_current` to be true       
 **Prototype**
 ```cpp
-void set_exit_condition(int p_small_exit_time, double p_small_error, int p_big_exit_time = 0, double p_big_error = 0, int p_velocity_exit_time = 0, int p_mA_timeout = 0);
+void exit_condition_set(int p_small_exit_time, double p_small_error, int p_big_exit_time = 0, double p_big_error = 0, int p_velocity_exit_time = 0, int p_mA_timeout = 0);
 
 ```
 
 **Example**
 ```cpp
 PID liftPID{1, 0.003, 4, 100, "Lift"};  
 void initialize() {
-  liftPID.set_exit_condition(100, 3, 500, 7, 500, 500);
+  liftPID.exit_condition_set(100, 3, 500, 7, 500, 500);
 }
 ```
 
@@ -139,18 +139,18 @@ void initialize() {
 
 
 
-## set_name()
+## name_set()
 A string that prints when exit conditions are met.  When you have multiple mechanisms using exit conditions and you're debugging, seeing which exit condition is doing what can be useful.     
 **Prototype**
 ```cpp
-void set_name(std::string name);
+void name_set(std::string name);
 ```
 
 **Example** 
 ```cpp
 PID liftPID{1, 0.003, 4, 100};
 void initialize() {
-  liftPID.set_name("Lift");
+  liftPID.name_set("Lift");
 }  
 ```
 
@@ -173,10 +173,10 @@ pros::Motor lift_motor(1);
 void opcontrol() {
   while (true) {
     if (master.get_digital(DIGITAL_L1)) {
-      liftPID.set_target(500);
+      liftPID.target_set(500);
     }
     else if (master.get_digital(DIGITAL_L2)) {
-      liftPID.set_target(0);
+      liftPID.target_set(0);
     }
     lift_motor = liftPID.compute(lift_motor.get_position());
 
@@ -205,17 +205,17 @@ PID liftPID{1, 0.003, 4, 100, "Lift"};
 pros::Motor lift_motor(1);
 
 void initialize() {
-  liftPID.set_exit_condition(100, 3, 500, 7, 500, 500);
+  liftPID.exit_condition_set(100, 3, 500, 7, 500, 500);
 }
 
 void autonomous() {
-  liftPID.set_target(500);
+  liftPID.target_set(500);
   while (liftPID.exit_condition(true) == ez::RUNNING) {
     lift_motor = liftPID.compute(lift_motor.get_position());
     pros::delay(ez::util::DELAY_TIME);
   }
 
-  liftPID.set_target(0);
+  liftPID.target_set(0);
   while (liftPID.exit_condition(true) == ez::RUNNING) {
     lift_motor = liftPID.compute(lift_motor.get_position());
     pros::delay(ez::util::DELAY_TIME);
@@ -241,17 +241,17 @@ PID liftPID{1, 0.003, 4, 100, "Lift"};
 pros::Motor lift_motor(1);
 
 void initialize() {
-  liftPID.set_exit_condition(100, 3, 500, 7, 500, 500);
+  liftPID.exit_condition_set(100, 3, 500, 7, 500, 500);
 }
 
 void autonomous() {
-  liftPID.set_target(500);
+  liftPID.target_set(500);
   while (liftPID.exit_condition(lift_motor, true) == ez::RUNNING) {
     lift_motor = liftPID.compute(lift_motor.get_position());
     pros::delay(ez::util::DELAY_TIME);
   }
 
-  liftPID.set_target(0);
+  liftPID.target_set(0);
   while (liftPID.exit_condition(lift_motor, true) == ez::RUNNING) {
     lift_motor = liftPID.compute(lift_motor.get_position());
     pros::delay(ez::util::DELAY_TIME);
@@ -283,17 +283,17 @@ void set_lift(int input) {
 }
 
 void initialize() {
-  liftPID.set_exit_condition(100, 3, 500, 7, 500, 500);
+  liftPID.exit_condition_set(100, 3, 500, 7, 500, 500);
 }
 
 void autonomous() {
-  liftPID.set_target(500);
+  liftPID.target_set(500);
   while (liftPID.exit_condition({r_lift_motor, l_lift_motor}, true) == ez::RUNNING) {
     set_lift(liftPID.compute(lift_motor.get_position()));
     pros::delay(ez::util::DELAY_TIME);
   }
 
-  liftPID.set_target(0);
+  liftPID.target_set(0);
   while (liftPID.exit_condition({r_lift_motor, l_lift_motor}, true) == ez::RUNNING) {
     set_lift(liftPID.compute(lift_motor.get_position()));
     pros::delay(ez::util::DELAY_TIME);

docs/Tutorials/pid.md

@@ -33,7 +33,7 @@ PID liftPID{0.45, 0, 0, 0, "Lift"};
 
 
 void lift_auto(double target) {
-  liftPID.set_target(target);
+  liftPID.target_set(target);
   ez::e_exit_output exit = ez::RUNNING;
   while (liftPID.exit_condition({l_lift, r_lift}, true) == ez::RUNNING) {
     double output = liftPID.compute(l_lift.get_position());
@@ -44,7 +44,7 @@ void lift_auto(double target) {
 }
 
 void initialize() {
-  liftPID.set_exit_condition(80, 50, 300, 150, 500, 500);
+  liftPID.exit_condition_set(80, 50, 300, 150, 500, 500);
 }
 
 void autonomous() {
@@ -54,10 +54,10 @@ void autonomous() {
 void opcontrol() {
   while (true) {
     if (master.get_digital(DIGITAL_L1)) {
-      liftPID.set_target(500);
+      liftPID.target_set(500);
     }
     else if (master.get_digital(DIGITAL_L2)) {
-      liftPID.set_target(0);
+      liftPID.target_set(0);
     }
     set_lift(liftPID.compute(l_lift.get_position()));
 

include/EZ-Template/PID.hpp

@@ -44,12 +44,12 @@ class PID {
    * \param p_start_i
    *        error value that i starts within
    */
-  void set_constants(double p, double i = 0, double d = 0, double p_start_i = 0);
+  void constants_set(double p, double i = 0, double d = 0, double p_start_i = 0);
 
   /**
    * Struct for constants.
    */
-  struct Constants {
+  struct constants_ {
     double kp;
     double ki;
     double kd;
@@ -82,15 +82,15 @@ class PID {
    * \param p_velocity_exit_time
    *        Sets velocity_exit_time.  Timer will start when velocity is 0.
    */
-  void set_exit_condition(int p_small_exit_time, double p_small_error, int p_big_exit_time = 0, double p_big_error = 0, int p_velocity_exit_time = 0, int p_mA_timeout = 0);
+  void exit_condition_set(int p_small_exit_time, double p_small_error, int p_big_exit_time = 0, double p_big_error = 0, int p_velocity_exit_time = 0, int p_mA_timeout = 0);
 
   /**
    * Sets target.
    *
    * \param target
    *        Target for PID.
    */
-  void set_target(double input);
+  void target_set(double input);
 
   /**
    * Computes PID.
@@ -103,22 +103,22 @@ class PID {
   /**
    * Returns target value.
    */
-  double get_target();
+  double target_get();
 
   /**
    * Returns constants.
    */
-  Constants get_constants();
+  constants_ constants_get();
 
   /**
    * Resets all variables to 0.  This does not reset constants.
    */
-  void reset_variables();
+  void variables_reset();
 
   /**
-   * Constants
+   * constants_
    */
-  Constants constants;
+  constants_ constants;
 
   /**
    * Exit
@@ -159,7 +159,7 @@ class PID {
    * \param name
    *        a string that is the name you want to print
    */
-  void set_name(std::string name);
+  void name_set(std::string name);
 
   /**
    * PID variables.
@@ -168,17 +168,17 @@ class PID {
   double cur;
   double error;
   double target;
-  double prev_error;
+  double error_prev;
   double integral;
   double derivative;
   long time;
-  long prev_time;
+  long time_prev;
 
  private:
   int i = 0, j = 0, k = 0, l = 0;
   bool is_mA = false;
-  void reset_timers();
+  void timers_reset();
   std::string name;
   bool is_name = false;
-  void print_exit(ez::e_exit_output exit_type);
+  void exit_print(ez::e_exit_output exit_type);
 };