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Update wpilibc to use new NetworkTables package and interfaces.

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This commit is contained in:
Peter Johnson
2017-09-02 00:17:43 -07:00
parent 4e80570c4c
commit 040a8c6bcc
74 changed files with 937 additions and 721 deletions
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27
wpilibc/src/main/native/include/PIDController.h
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@@ -21,6 +21,7 @@
#include "PIDInterface.h"
#include "PIDSource.h"
#include "Timer.h"
#include "networktables/NetworkTableEntry.h"
namespace frc {
@@ -36,9 +37,7 @@ class PIDOutput;
* in the integral and derivative calculations. Therefore, the sample rate
* affects the controller's behavior for a given set of PID constants.
*/
class PIDController : public LiveWindowSendable,
public PIDInterface,
public ITableListener {
class PIDController : public LiveWindowSendable, public PIDInterface {
public:
PIDController(double p, double i, double d, PIDSource* source,
PIDOutput* output, double period = 0.05);
@@ -82,13 +81,26 @@ class PIDController : public LiveWindowSendable,
void Reset() override;
void InitTable(std::shared_ptr<ITable> subtable) override;
void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
protected:
PIDSource* m_pidInput;
PIDOutput* m_pidOutput;
std::shared_ptr<ITable> m_table;
std::shared_ptr<nt::NetworkTable> m_table;
nt::NetworkTableEntry m_pEntry;
nt::NetworkTableEntry m_iEntry;
nt::NetworkTableEntry m_dEntry;
nt::NetworkTableEntry m_fEntry;
nt::NetworkTableEntry m_setpointEntry;
nt::NetworkTableEntry m_enabledEntry;
NT_EntryListener m_pListener = 0;
NT_EntryListener m_iListener = 0;
NT_EntryListener m_dListener = 0;
NT_EntryListener m_fListener = 0;
NT_EntryListener m_setpointListener = 0;
NT_EntryListener m_enabledListener = 0;
virtual void Calculate();
virtual double CalculateFeedForward();
double GetContinuousError(double error) const;
@@ -142,13 +154,12 @@ class PIDController : public LiveWindowSendable,
std::unique_ptr<Notifier> m_controlLoop;
Timer m_setpointTimer;
std::shared_ptr<ITable> GetTable() const override;
std::shared_ptr<nt::NetworkTable> GetTable() const override;
std::string GetSmartDashboardType() const override;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
void RemoveListeners();
};
} // namespace frc