eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.h

#ifndef $classname_H
#define $classname_H

#include "Commands/PIDSubsystem.h"
#include "WPILib.h"

class $classname: public PIDSubsystem
{
public:
	$classname();
	double ReturnPIDInput() const;
	void UsePIDOutput(double output);
	void InitDefaultCommand();
};

#endif
Initial checkin of unified hierarchy of WPILib 2015 2013-12-15 18:30:16 -05:00			`#ifndef $classname_H`
			`#define $classname_H`

			`#include "Commands/PIDSubsystem.h"`
			`#include "WPILib.h"`

Version 4 Image Updated the HAL library to work with the new version 3 headers from NI. There were multiple changes in this verison: more PWM generators were added, so the functions for setting PWM signals have been updated. UserWatchdog has been removed, and Watchdog has been removed from WPILib to accomodate for this. Digital selection has been consolidated to one function in the NI headers, so this has been updated in the HAL. New SPI and I2C libraries have been added, but need to be implemented in the HAL before they will work. 2014-02-25 18:43:40 -05:00			`class $classname: public PIDSubsystem`
			`{`
			`public:`
Initial checkin of unified hierarchy of WPILib 2015 2013-12-15 18:30:16 -05:00			`$classname();`
Fixed examples to build/run with new WPILib versions. Also added some references/smart pointers to a couple places that seemed convenient to the user. I haven't updated the constructors for RobotDrive() related examples, pending the results of gerrit change https://usfirst.collab.net/gerrit/#/c/960/ A few things that we are noticing: --It might be nice if ReturnPIDInput() didn't have to be const; when people try to override it, they have to remember to put the const in and if they don't, then the compiler error isn't the most obvious (especially since this is a change). This would also apply to PIDGet() in the PIDSource interface. --SendableChooser still takes raw pointers. This could lead to an issue I had to debug briefly where you accidentally call GetSelected() on autoChooser and put the resulting raw pointer into a unique_ptr, which destroys the pointer when it goes out of scope. Specifically, I was testing the PacGoat example and I ended up with a situation where if auto mode was run once, it was fine, but if it was run twice, the selected command would have been destroyed by the unique_ptr. I believe that this just requires updating SendableChosser to take shared_ptr. --When the samples are compiled with -pedantic, it points out that START_ROBOT_CLASS macro expansion results in a redundant semicolon. Change-Id: Ib4c025a61263d0d2780d4253faa31713e15333a5 2015-07-24 19:19:40 -04:00			`double ReturnPIDInput() const;`
Initial checkin of unified hierarchy of WPILib 2015 2013-12-15 18:30:16 -05:00			`void UsePIDOutput(double output);`
			`void InitDefaultCommand();`
			`};`

			`#endif`