Merge pull request #8 from strykeforce/feature/6-clear-i-accum

jhh · web-flow · commit c4b94e4b1793 · 2019-01-29T14:33:04.000-05:00
Clear i-accum when setting I
diff --git a/src/main/kotlin/org/strykeforce/thirdcoast/talon/TalonParameterCommand.kt b/src/main/kotlin/org/strykeforce/thirdcoast/talon/TalonParameterCommand.kt
@@ -83,6 +83,7 @@ class TalonParameterCommand(
             }
             SLOT_I -> configDoubleParam(slot.kI) { talon, value ->
                 talon.config_kI(talonService.activeSlotIndex, value, timeout)
+                talon.setIntegralAccumulator(0.0, 0, timeout)
                 slot.kI = value
             }
             SLOT_D -> configDoubleParam(slot.kD) { talon, value ->

Original file line number	Diff line number	Diff line change
`@@ -83,6 +83,7 @@ class TalonParameterCommand(`
`83`	`83`	`}`
`84`	`84`	`SLOT_I -> configDoubleParam(slot.kI) { talon, value ->`
`85`	`85`	`talon.config_kI(talonService.activeSlotIndex, value, timeout)`
	`86`	`+ talon.setIntegralAccumulator(0.0, 0, timeout)`
`86`	`87`	`slot.kI = value`
`87`	`88`	`}`
`88`	`89`	`SLOT_D -> configDoubleParam(slot.kD) { talon, value ->`