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Fix Typo in PIDFController That Breaks I-Term Total Error #188

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Merged
JIceberg merged 4 commits into from
Sep 18, 2021
Merged

Fix Typo in PIDFController That Breaks I-Term Total Error #188

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94a0a7e
fix: typo in total error calculation in PIDF controller
JIceberg Sep 16, 2021
86e0bfc
fix: remove seemingly broken dependency
JIceberg Sep 18, 2021
a59ba2e
fix: android resource link failure
JIceberg Sep 18, 2021
c616339
fix: android core ktx linker issue
JIceberg Sep 18, 2021
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2 changes: 1 addition & 1 deletion build.common.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ apply plugin: 'com.android.application'
android {


compileSdkVersion 28
compileSdkVersion 29

signingConfigs {
debug {
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3 changes: 2 additions & 1 deletion build.gradle
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Expand Up @@ -6,9 +6,10 @@ buildscript {
repositories {
google()
jcenter()
mavenCentral()
}
dependencies {
classpath 'com.android.tools.build:gradle:4.0.2'
classpath 'com.android.tools.build:gradle:4.0.1'
classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"

// NOTE: Do not place your application dependencies here; they belong
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7 changes: 3 additions & 4 deletions core/build.gradle
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Expand Up @@ -5,7 +5,7 @@ apply plugin: 'kotlin-android-extensions'
ext {
PUBLISH_GROUP_ID = 'com.arcrobotics'
PUBLISH_ARTIFACT_ID = 'ftclib'
PUBLISH_VERSION = '1.2.0'
PUBLISH_VERSION = '1.2.1'
}

android {
Expand All @@ -17,7 +17,7 @@ android {
minSdkVersion 24
targetSdkVersion 28
versionCode 1
versionName 'v1.2.0'
versionName 'v1.2.1'

testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
consumerProguardFiles 'consumer-rules.pro'
Expand Down Expand Up @@ -61,11 +61,10 @@ dependencies {
compileOnly 'org.firstinspires.ftc:RobotCore:6.2.1'
testImplementation 'org.firstinspires.ftc:RobotCore:6.2.1'
compileOnly 'org.firstinspires.ftc:RobotServer:6.2.1'
compileOnly 'org.firstinspires.ftc:OnBotJava:6.2.1'
compileOnly 'org.firstinspires.ftc:Hardware:6.2.1'
compileOnly 'org.firstinspires.ftc:FtcCommon:6.2.1'
compileOnly 'androidx.appcompat:appcompat:1.2.0'
implementation "androidx.core:core-ktx:+"
implementation "androidx.core:core-ktx:1.6.0"
implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk8:$kotlin_version"
}

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11 changes: 8 additions & 3 deletions core/dependencies.gradle
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Expand Up @@ -5,21 +5,26 @@ dependencies {
compileOnly 'org.firstinspires.ftc:Blocks:6.2.1'
compileOnly 'org.firstinspires.ftc:RobotCore:6.2.1'
compileOnly 'org.firstinspires.ftc:RobotServer:6.2.1'
compileOnly 'org.firstinspires.ftc:OnBotJava:6.2.1'
compileOnly 'org.firstinspires.ftc:Hardware:6.2.1'
compileOnly 'org.firstinspires.ftc:FtcCommon:6.2.1'
compileOnly 'androidx.appcompat:appcompat:1.2.0'
}

configurations.all {
resolutionStrategy {
force 'androidx.core:core-ktx:1.6.0'
}
}

android {
compileSdkVersion 28
compileSdkVersion 29
buildToolsVersion "29.0.2"

defaultConfig {
minSdkVersion 24
targetSdkVersion 28
versionCode 1
versionName "1.2.0"
versionName "1.2.1"

testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
consumerProguardFiles "consumer-rules.pro"
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2 changes: 1 addition & 1 deletion core/src/main/java/com/arcrobotics/ftclib/controller/PIDFController.java
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Expand Up @@ -206,7 +206,7 @@ public double calculate(double pv) {
if total error is the integral from 0 to t of e(t')dt', and
e(t) = sp - pv, then the total error, E(t), equals sp*t - pv*t.
*/
totalError = period * (setPoint - measuredValue);
totalError += period * (setPoint - measuredValue);
totalError = totalError < minIntegral ? minIntegral : Math.min(maxIntegral, totalError);

// returns u(t)
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