Add angular PID to ArcPIDController, fix issue with SettleExitCondition #89
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AndrewLuGit
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| @@ -10,9 +10,12 @@ class ArcPIDController : public AbstractController { | |||
| protected: | |||
| std::shared_ptr<ArcPIDController> p; | |||
| utils::PID linear_pid; | |||
| utils::PID angular_pid; | |||
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warning: member variable 'angular_pid' has protected visibility [cppcoreguidelines-non-private-member-variables-in-classes]
utils::PID angular_pid;
^| double track_width; | ||
| double min_error; | ||
| double can_reverse; | ||
| double arc_radius; |
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warning: member variable 'arc_radius' has protected visibility [cppcoreguidelines-non-private-member-variables-in-classes]
double arc_radius;
^| double track_width; | ||
| double min_error; | ||
| double can_reverse; | ||
| double arc_radius; | ||
| Point arc_center; |
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warning: member variable 'arc_center' has protected visibility [cppcoreguidelines-non-private-member-variables-in-classes]
Point arc_center;
^| @@ -18,6 +18,7 @@ class ArcPIDControllerBuilder { | |||
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| ArcPIDControllerBuilder& with_linear_constants(double kP, double kI, | |||
| double kD); | |||
| ArcPIDControllerBuilder& with_angular_constants(double kP, double kI, double kD); | |||
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warning: parameter name 'kP' is too short, expected at least 3 characters [readability-identifier-length]
ArcPIDControllerBuilder& with_angular_constants(double kP, double kI, double kD);
^| @@ -18,6 +18,7 @@ class ArcPIDControllerBuilder { | |||
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| ArcPIDControllerBuilder& with_linear_constants(double kP, double kI, | |||
| double kD); | |||
| ArcPIDControllerBuilder& with_angular_constants(double kP, double kI, double kD); | |||
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warning: parameter name 'kI' is too short, expected at least 3 characters [readability-identifier-length]
ArcPIDControllerBuilder& with_angular_constants(double kP, double kI, double kD);
^| .with_linear_constants(20, 0.02, 169) | ||
| .with_angular_constants(250, 0.05, 2435) |
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warning: 2435 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers]
.with_angular_constants(250, 0.05, 2435)
^| .with_min_error(5) | ||
| .with_slew(8) |
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warning: 8 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers]
.with_slew(8)
^| master.rumble("--"); | ||
| chassis.turn(0); | ||
| printf("end\n"); | ||
| odom->set_pose({0.0, 0.0, 90}); |
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warning: 90 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers]
odom->set_pose({0.0, 0.0, 90});
^| chassis.turn(0); | ||
| printf("end\n"); | ||
| odom->set_pose({0.0, 0.0, 90}); | ||
| chassis.move({-24, 24}, arc); |
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warning: 24 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers]
chassis.move({-24, 24}, arc);
^| chassis.turn(0); | ||
| printf("end\n"); | ||
| odom->set_pose({0.0, 0.0, 90}); | ||
| chassis.move({-24, 24}, arc); |
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warning: 24 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers]
chassis.move({-24, 24}, arc);
^
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