allwpilib/wpilibc/src/main/native/include/frc/PIDSource.h

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#pragma once

namespace frc {

enum class PIDSourceType { kDisplacement, kRate };

/**
 * PIDSource interface is a generic sensor source for the PID class.
 *
 * All sensors that can be used with the PID class will implement the PIDSource
 * that returns a standard value that will be used in the PID code.
 */
class PIDSource {
 public:
  virtual ~PIDSource() = default;

  /**
   * Set which parameter you are using as a process control variable.
   *
   * @param pidSource An enum to select the parameter.
   */
  virtual void SetPIDSourceType(PIDSourceType pidSource);

  virtual PIDSourceType GetPIDSourceType() const;

  virtual double PIDGet() = 0;

 protected:
  PIDSourceType m_pidSource = PIDSourceType::kDisplacement;
};

}  // namespace frc