wpilibsuite/allwpilib

Add function to get next position-velocity pair from ProfiledPIDController

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#5,236 opened on Mar 24, 2023

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component: wpimatheffort: 1good first issuetype: fix

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Description

Is your feature request related to a problem? Please describe. The feedforward calculate() overloads that take nextVelocity are more accurate for discrete systems. ProfiledPIDController doesn't provide a way to get it though.

Describe the solution you'd like Add a function that returns the next setpoint pair.

Contributor guide

Research direction
Inspect the ProfiledPIDController class and trace how the current getSetpoint() works, then add a similar method to return the next setpoint pair.
Tech stack
cpp
Domain
api
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
75