v6.1.1

v6.1.1 (2024-12-13)

PID systems refactoring and improvements.

Breaking changes

• ProfiledPIDController now extends PIDController, delegating a lot of its methods over to the PIDFController
• Renamed getPositionError() to getError() on PIDFController
• Renamed getVelocityError() to getErrorDerivative() on PIDFController
• For consistency, the setSetPoint and getSetPoint methods that spanned ProfiledPIDController and PIDFController are now simply setSetpoint and getSetpoint
  • To differentiate the double setpoint from the TrapezoidalProfile setpoint, the getSetPoint method still exists on ProfiledPIDController

Additions

• PIDFController new methods and functionality
  • setClearIntegralOnNewSetpoint, which will erase the integration accumulation whenever the setpoint is changed
  • setIntegrationZone, also known as the IZone from WPILib, which sets a region around the error such that integration is enabled
  • enableContinuousInput, also from WPILib, which allows wrapping of PID outputs for continuous systems like angles
  • See the BunyipsLib wiki (IO section) for more information
• PIDFController now uses a low-pass filter to smooth derivative readings
  • Comes with the setDerivativeSmoothingGain method, allowing you to set a low-pass gain (0<g<1)
  • Designed to reduce noise and oscillation caused by too noisy of data to get a derivative that can be used effectively
  • Default value of 0.8 in place for all PIDFController instances - set to Double.MIN_VALUE to disable or access/set the DEFAULT_DERIVATIVE_LP_GAIN field
• New PIDFController getTotalError() method to accompany getError() and getErrorDerivative()

Non-breaking changes

• New unit tests for the new refactored PID and features
  • These tests are ported from WPILib
  • Some tests, like ones that test derivatives have not been integrated as the controllers do not have constant period
• Various docs improvements and corrections
• PIDFController now exposes the fields:
  • clearIOnNewSetpoint
  • minIClamp
  • maxIClamp
  • iZone
  • lowerClamp
  • and upperClamp
• Various internal restructurings of PIDFController
• reset() of PIDFController resets all errors now
• The Filter.LowPass now exposes as a public final field the gain in use
• Implementations of Filter.LowPass now have checks to stop reassignment on continuous set calls