[wpimath] PIDController: Update field and method names for error and …

…errorDerivative (#7088)

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java

@@ -208,7 +208,7 @@ public void testPositionPIDController() {
 
         assertTrue(
             "PID loop did not reach reference within 10 seconds. The current error was"
-                + pidController.getPositionError(),
+                + pidController.getError(),
             pidController.atSetpoint());
       }
     }
@@ -233,7 +233,7 @@ public void testVelocityPIDController() {
 
         assertTrue(
             "PID loop did not reach reference within 10 seconds. The error was: "
-                + pidController.getPositionError(),
+                + pidController.getError(),
             pidController.atSetpoint());
       }
     }

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java

@@ -133,7 +133,7 @@ public void testInitialSettings() {
     assertEquals(
         "PID.getPositionError() did not start at " + reference,
         reference,
-        m_controller.getPositionError(),
+        m_controller.getError(),
         0);
     m_builder.update();
     assertEquals(m_p, m_table.getEntry("Kp").getDouble(9999999), 0);
@@ -160,18 +160,15 @@ public void testRotateToTarget() {
     assertEquals(pidData() + "did not start at 0", 0, me.getMotor().get(), 0);
     m_controller.setSetpoint(reference);
     assertEquals(
-        pidData() + "did not have an error of " + reference,
-        reference,
-        m_controller.getPositionError(),
-        0);
+        pidData() + "did not have an error of " + reference, reference, m_controller.getError(), 0);
     Notifier pidRunner =
         new Notifier(
             () -> me.getMotor().set(m_controller.calculate(me.getEncoder().getDistance())));
     pidRunner.startPeriodic(m_controller.getPeriod());
     Timer.delay(5);
     pidRunner.stop();
     assertTrue(
-        pidData() + "Was not on Target. Controller Error: " + m_controller.getPositionError(),
+        pidData() + "Was not on Target. Controller Error: " + m_controller.getError(),
         m_controller.atSetpoint());
 
     pidRunner.close();

wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java

@@ -42,8 +42,8 @@ public class PIDController implements Sendable, AutoCloseable {
   private boolean m_continuous;
 
   // The error at the time of the most recent call to calculate()
-  private double m_positionError;
-  private double m_velocityError;
+  private double m_error;
+  private double m_errorDerivative;
 
   // The error at the time of the second-most-recent call to calculate() (used to compute velocity)
   private double m_prevError;
@@ -52,8 +52,8 @@ public class PIDController implements Sendable, AutoCloseable {
   private double m_totalError;
 
   // The error that is considered at setpoint.
-  private double m_positionTolerance = 0.05;
-  private double m_velocityTolerance = Double.POSITIVE_INFINITY;
+  private double m_errorTolerance = 0.05;
+  private double m_errorDerivativeTolerance = Double.POSITIVE_INFINITY;
 
   private double m_setpoint;
   private double m_measurement;
@@ -227,18 +227,40 @@ public double getPeriod() {
    * Returns the position tolerance of this controller.
    *
    * @return the position tolerance of the controller.
+   * @deprecated Use getErrorTolerance() instead.
    */
+  @Deprecated(forRemoval = true, since = "2025")
   public double getPositionTolerance() {
-    return m_positionTolerance;
+    return m_errorTolerance;
   }
 
   /**
    * Returns the velocity tolerance of this controller.
    *
    * @return the velocity tolerance of the controller.
+   * @deprecated Use getErrorDerivativeTolerance() instead.
    */
+  @Deprecated(forRemoval = true, since = "2025")
   public double getVelocityTolerance() {
-    return m_velocityTolerance;
+    return m_errorDerivativeTolerance;
+  }
+
+  /**
+   * Returns the error tolerance of this controller.
+   *
+   * @return the error tolerance of the controller.
+   */
+  public double getErrorTolerance() {
+    return m_errorTolerance;
+  }
+
+  /**
+   * Returns the error derivative tolerance of this controller.
+   *
+   * @return the error derivative tolerance of the controller.
+   */
+  public double getErrorDerivativeTolerance() {
+    return m_errorDerivativeTolerance;
   }
 
   /**
@@ -261,12 +283,12 @@ public void setSetpoint(double setpoint) {
 
     if (m_continuous) {
       double errorBound = (m_maximumInput - m_minimumInput) / 2.0;
-      m_positionError = MathUtil.inputModulus(m_setpoint - m_measurement, -errorBound, errorBound);
+      m_error = MathUtil.inputModulus(m_setpoint - m_measurement, -errorBound, errorBound);
     } else {
-      m_positionError = m_setpoint - m_measurement;
+      m_error = m_setpoint - m_measurement;
     }
 
-    m_velocityError = (m_positionError - m_prevError) / m_period;
+    m_errorDerivative = (m_error - m_prevError) / m_period;
   }
 
   /**
@@ -288,8 +310,8 @@ public double getSetpoint() {
   public boolean atSetpoint() {
     return m_haveMeasurement
         && m_haveSetpoint
-        && Math.abs(m_positionError) < m_positionTolerance
-        && Math.abs(m_velocityError) < m_velocityTolerance;
+        && Math.abs(m_error) < m_errorTolerance
+        && Math.abs(m_errorDerivative) < m_errorDerivativeTolerance;
   }
 
   /**
@@ -338,39 +360,61 @@ public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
   /**
    * Sets the error which is considered tolerable for use with atSetpoint().
    *
-   * @param positionTolerance Position error which is tolerable.
+   * @param errorTolerance Error which is tolerable.
    */
-  public void setTolerance(double positionTolerance) {
-    setTolerance(positionTolerance, Double.POSITIVE_INFINITY);
+  public void setTolerance(double errorTolerance) {
+    setTolerance(errorTolerance, Double.POSITIVE_INFINITY);
   }
 
   /**
    * Sets the error which is considered tolerable for use with atSetpoint().
    *
-   * @param positionTolerance Position error which is tolerable.
-   * @param velocityTolerance Velocity error which is tolerable.
+   * @param errorTolerance Error which is tolerable.
+   * @param errorDerivativeTolerance Error derivative which is tolerable.
    */
-  public void setTolerance(double positionTolerance, double velocityTolerance) {
-    m_positionTolerance = positionTolerance;
-    m_velocityTolerance = velocityTolerance;
+  public void setTolerance(double errorTolerance, double errorDerivativeTolerance) {
+    m_errorTolerance = errorTolerance;
+    m_errorDerivativeTolerance = errorDerivativeTolerance;
   }
 
   /**
    * Returns the difference between the setpoint and the measurement.
    *
    * @return The error.
+   * @deprecated Use getError() instead.
    */
+  @Deprecated(forRemoval = true, since = "2025")
   public double getPositionError() {
-    return m_positionError;
+    return m_error;
   }
 
   /**
    * Returns the velocity error.
    *
    * @return The velocity error.
+   * @deprecated Use getErrorDerivative() instead.
    */
+  @Deprecated(forRemoval = true, since = "2025")
   public double getVelocityError() {
-    return m_velocityError;
+    return m_errorDerivative;
+  }
+
+  /**
+   * Returns the difference between the setpoint and the measurement.
+   *
+   * @return The error.
+   */
+  public double getError() {
+    return m_error;
+  }
+
+  /**
+   * Returns the error derivative.
+   *
+   * @return The error derivative.
+   */
+  public double getErrorDerivative() {
+    return m_errorDerivative;
   }
 
   /**
@@ -394,38 +438,38 @@ public double calculate(double measurement, double setpoint) {
    */
   public double calculate(double measurement) {
     m_measurement = measurement;
-    m_prevError = m_positionError;
+    m_prevError = m_error;
     m_haveMeasurement = true;
 
     if (m_continuous) {
       double errorBound = (m_maximumInput - m_minimumInput) / 2.0;
-      m_positionError = MathUtil.inputModulus(m_setpoint - m_measurement, -errorBound, errorBound);
+      m_error = MathUtil.inputModulus(m_setpoint - m_measurement, -errorBound, errorBound);
     } else {
-      m_positionError = m_setpoint - m_measurement;
+      m_error = m_setpoint - m_measurement;
     }
 
-    m_velocityError = (m_positionError - m_prevError) / m_period;
+    m_errorDerivative = (m_error - m_prevError) / m_period;
 
     // If the absolute value of the position error is greater than IZone, reset the total error
-    if (Math.abs(m_positionError) > m_iZone) {
+    if (Math.abs(m_error) > m_iZone) {
       m_totalError = 0;
     } else if (m_ki != 0) {
       m_totalError =
           MathUtil.clamp(
-              m_totalError + m_positionError * m_period,
+              m_totalError + m_error * m_period,
               m_minimumIntegral / m_ki,
               m_maximumIntegral / m_ki);
     }
 
-    return m_kp * m_positionError + m_ki * m_totalError + m_kd * m_velocityError;
+    return m_kp * m_error + m_ki * m_totalError + m_kd * m_errorDerivative;
   }
 
   /** Resets the previous error and the integral term. */
   public void reset() {
-    m_positionError = 0;
+    m_error = 0;
     m_prevError = 0;
     m_totalError = 0;
-    m_velocityError = 0;
+    m_errorDerivative = 0;
     m_haveMeasurement = false;
   }
 
@@ -446,5 +490,10 @@ public void initSendable(SendableBuilder builder) {
           }
         });
     builder.addDoubleProperty("setpoint", this::getSetpoint, this::setSetpoint);
+    builder.addDoubleProperty("measurement", () -> m_measurement, null);
+    builder.addDoubleProperty("error", this::getError, null);
+    builder.addDoubleProperty("error derivative", this::getErrorDerivative, null);
+    builder.addDoubleProperty("previous error", () -> this.m_prevError, null);
+    builder.addDoubleProperty("total error", this::getAccumulatedError, null);
   }
 }

wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java

@@ -174,7 +174,7 @@ public double getPeriod() {
    * @return the position tolerance of the controller.
    */
   public double getPositionTolerance() {
-    return m_controller.getPositionTolerance();
+    return m_controller.getErrorTolerance();
   }
 
   /**
@@ -183,7 +183,7 @@ public double getPositionTolerance() {
    * @return the velocity tolerance of the controller.
    */
   public double getVelocityTolerance() {
-    return m_controller.getVelocityTolerance();
+    return m_controller.getErrorDerivativeTolerance();
   }
 
   /**
@@ -330,7 +330,7 @@ public void setTolerance(double positionTolerance, double velocityTolerance) {
    * @return The error.
    */
   public double getPositionError() {
-    return m_controller.getPositionError();
+    return m_controller.getError();
   }
 
   /**
@@ -339,7 +339,7 @@ public double getPositionError() {
    * @return The change in error per second.
    */
   public double getVelocityError() {
-    return m_controller.getVelocityError();
+    return m_controller.getErrorDerivative();
   }
 
   /**