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PIDCommand: getController().atSetpoint() returns false #5020

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ka930 opened this issue Jan 28, 2023 · 1 comment · Fixed by #5021
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PIDCommand: getController().atSetpoint() returns false #5020

ka930 opened this issue Jan 28, 2023 · 1 comment · Fixed by #5021

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@ka930
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ka930 commented Jan 28, 2023

In a PIDCommand (created similarly to the example), using getController().atSetpoint() returns false, even if the error is below the tolerance.
This seems to be because PIDCommand uses calculate(measurement, setpoint) to set the setpoint, instead of setSetpoint.
However, the calculate method doesn't actually set m_haveSetPoint to true, so atSetPoint continues to return false (m_haveSetPoint is still false).
This was probably caused by 1e05b21.
calcmogul added a commit to calcmogul/allwpilib that referenced this issue Jan 29, 2023
@calcmogul
[wpimath] Make PIDController::Calculate(double, double) update setpoi…
8cc08c9 
…nt flag

Fixes wpilibsuite#5020.
@calcmogul calcmogul mentioned this issue Jan 29, 2023
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@srimanachanta
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Yes, I was having this issue too

PeterJohnson pushed a commit that referenced this issue Jan 29, 2023
@calcmogul
[wpimath] PIDController::Calculate(double, double): update setpoint f…
8bf67b1 
…lag (#5021)

Fixes #5020.
Starlight220 pushed a commit to Starlight220/allwpilib that referenced this issue Mar 2, 2023
@calcmogul @Starlight220
[wpimath] PIDController::Calculate(double, double): update setpoint f…
dd65bf0 
…lag (wpilibsuite#5021)

Fixes wpilibsuite#5020.
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[wpimath] Make PIDController::Calculate(double, double) update setpoint flag calcmogul/allwpilib
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@srimanachanta @ka930