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38 lines
804 B
C
38 lines
804 B
C
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#ifndef DriveStraight_H
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#define DriveStraight_H
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#include "WPILib.h"
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#include "Commands/Command.h"
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/**
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* Drive the given distance straight (negative values go backwards).
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* Uses a local PID controller to run a simple PID loop that is only
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* enabled while this command is running. The input is the averaged
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* values of the left and right encoders.
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*/
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class DriveStraight: public Command {
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public:
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DriveStraight(double distance);
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void Initialize();
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void Execute();
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bool IsFinished();
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void End();
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void Interrupted();
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private:
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PIDController* pid;
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};
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class DriveStraightPIDSource: public PIDSource {
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public:
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virtual ~DriveStraightPIDSource();
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double PIDGet();
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};
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class DriveStraightPIDOutput: public PIDOutput {
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public:
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virtual ~DriveStraightPIDOutput();
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void PIDWrite(float d);
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};
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#endif
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