Help me understand PIDController::OnTarget()

[wireties]

Originally Posted by jwakeman

I think I will add my own OnTarget implementation to the WPILib and recompile it.

Just override the class (or copy it) - we can't recompile the lib and even if we could the FIRST infrastructure checks the MD5 checksum.

Originally Posted by jwakeman

I think the reason they are part of the critical region is that they are accessed in the calculation of the output of the controller and can also be modified at any time by the application threads via methods such as this one.

True but these class members are native machine word-sized thus changing them is an atomic operation in this context. It may not be desirable but it won't screw up.

HTH