Create/support "continuous" control loops
This supplies a wrap_point argument to the control loops code that
makes it so that you can have a system that spins infinitely (as the
swerve modules do) and still control them.
TODO: I observed some idiosyncracies in wrapping behavior during
testing; this likely requires additional tests to be written to validate
that we handle wrapping correctly.
Change-Id: Id4b9065de2b3334c0e8097b28a32916c47a54258
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/control_loops/state_feedback_loop.fbs b/frc971/control_loops/state_feedback_loop.fbs
index 7c9bff8..4ab267d 100644
--- a/frc971/control_loops/state_feedback_loop.fbs
+++ b/frc971/control_loops/state_feedback_loop.fbs
@@ -17,6 +17,7 @@
u_limit_constant:frc971.fbs.Matrix (id: 7);
dt:uint64 (id: 8);
delayed_u:uint64 (id: 9);
+ wrap_point:frc971.fbs.Matrix (id: 10);
}
table StateFeedbackHybridPlantCoefficients {
@@ -29,6 +30,7 @@
u_limit_coefficient:frc971.fbs.Matrix (id: 6);
u_limit_constant:frc971.fbs.Matrix (id: 7);
delayed_u:uint64 (id: 8);
+ wrap_point:frc971.fbs.Matrix (id: 9);
}
table StateFeedbackControllerCoefficients {