[wpimath] Fix PID atSetpoint to not return true prematurely #4906
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Wait until setpoint and measurement have been set Fixes wpilibsuite/BetaTest#185
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@calcmogul I think see the problem you were worried about, if calculate is called before setSetpoint, this could still return the wrong value. But I think this decreases the likelihood that atSetpoint returns the wrong value and shouldn't really increase computation. What do you think? |
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since both setPoint and calculate calculate the error, it actually doesn't matter which one is called first with regards to atSetpoint, as long as both are called. |
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I think this is the best we can do without forcing the user to provide an initial setpoint and measurement in the constructor. |
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I'll do C++ this afternoon |
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calcmogul
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…ite#4906) Wait until setpoint and measurement have been set.
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Wait until setpoint and measurement have been set
Fixes wpilibsuite/BetaTest#185