[wpimath] PIDController::Calculate(double, double): update setpoint f…

…lag (#5021) Fixes #5020.
wpilibsuite · Jan 29, 2023 · 8bf67b1 · 8bf67b1
1 parent 49bb135
commit 8bf67b1
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diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
@@ -327,6 +327,7 @@ public double getVelocityError() {
    */
   public double calculate(double measurement, double setpoint) {
     m_setpoint = setpoint;
+    m_haveSetpoint = true;
     return calculate(measurement);
   }
 

diff --git a/wpimath/src/main/native/cpp/controller/PIDController.cpp b/wpimath/src/main/native/cpp/controller/PIDController.cpp
@@ -162,6 +162,7 @@ double PIDController::Calculate(double measurement) {
 
 double PIDController::Calculate(double measurement, double setpoint) {
   m_setpoint = setpoint;
+  m_haveSetpoint = true;
   return Calculate(measurement);
 }