[wpimath] PIDController.setIntegratorRange documentation fix (#6489)

wpilibsuite · May 24, 2024 · 294c994 · 294c994
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commit 294c994
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Showing 4 changed files with 22 additions and 20 deletions.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
@@ -313,13 +313,13 @@ public boolean isContinuousInputEnabled() {
   }
 
   /**
-   * Sets the minimum and maximum values for the integrator.
+   * Sets the minimum and maximum contributions of the integral term.
    *
-   * <p>When the cap is reached, the integrator value is added to the controller output rather than
-   * the integrator value times the integral gain.
+   * <p>The internal integrator is clamped so that the integral term's contribution to the output
+   * stays between minimumIntegral and maximumIntegral. This prevents integral windup.
    *
-   * @param minimumIntegral The minimum value of the integrator.
-   * @param maximumIntegral The maximum value of the integrator.
+   * @param minimumIntegral The minimum contribution of the integral term.
+   * @param maximumIntegral The maximum contribution of the integral term.
    */
   public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
     m_minimumIntegral = minimumIntegral;

diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
@@ -284,13 +284,13 @@ public void disableContinuousInput() {
   }
 
   /**
-   * Sets the minimum and maximum values for the integrator.
+   * Sets the minimum and maximum contributions of the integral term.
    *
-   * <p>When the cap is reached, the integrator value is added to the controller output rather than
-   * the integrator value times the integral gain.
+   * <p>The internal integrator is clamped so that the integral term's contribution to the output
+   * stays between minimumIntegral and maximumIntegral. This prevents integral windup.
    *
-   * @param minimumIntegral The minimum value of the integrator.
-   * @param maximumIntegral The maximum value of the integrator.
+   * @param minimumIntegral The minimum contribution of the integral term.
+   * @param maximumIntegral The maximum contribution of the integral term.
    */
   public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
     m_controller.setIntegratorRange(minimumIntegral, maximumIntegral);

diff --git a/wpimath/src/main/native/include/frc/controller/PIDController.h b/wpimath/src/main/native/include/frc/controller/PIDController.h
@@ -179,13 +179,14 @@ class WPILIB_DLLEXPORT PIDController
   bool IsContinuousInputEnabled() const;
 
   /**
-   * Sets the minimum and maximum values for the integrator.
+   * Sets the minimum and maximum contributions of the integral term.
    *
-   * When the cap is reached, the integrator value is added to the controller
-   * output rather than the integrator value times the integral gain.
+   * The internal integrator is clamped so that the integral term's contribution
+   * to the output stays between minimumIntegral and maximumIntegral. This
+   * prevents integral windup.
    *
-   * @param minimumIntegral The minimum value of the integrator.
-   * @param maximumIntegral The maximum value of the integrator.
+   * @param minimumIntegral The minimum contribution of the integral term.
+   * @param maximumIntegral The maximum contribution of the integral term.
    */
   void SetIntegratorRange(double minimumIntegral, double maximumIntegral);
 

diff --git a/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h b/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
@@ -257,13 +257,14 @@ class ProfiledPIDController
   void DisableContinuousInput() { m_controller.DisableContinuousInput(); }
 
   /**
-   * Sets the minimum and maximum values for the integrator.
+   * Sets the minimum and maximum contributions of the integral term.
    *
-   * When the cap is reached, the integrator value is added to the controller
-   * output rather than the integrator value times the integral gain.
+   * The internal integrator is clamped so that the integral term's contribution
+   * to the output stays between minimumIntegral and maximumIntegral. This
+   * prevents integral windup.
    *
-   * @param minimumIntegral The minimum value of the integrator.
-   * @param maximumIntegral The maximum value of the integrator.
+   * @param minimumIntegral The minimum contribution of the integral term.
+   * @param maximumIntegral The maximum contribution of the integral term.
    */
   void SetIntegratorRange(double minimumIntegral, double maximumIntegral) {
     m_controller.SetIntegratorRange(minimumIntegral, maximumIntegral);