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[command] PIDSubsystem: Add GetSetpoint (#2534)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
sciencewhiz
2020-06-20 16:30:21 -07:00
committed by GitHub
parent dfb130270a
commit 27566abb06
3 changed files with 21 additions and 3 deletions
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4
wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -22,6 +22,8 @@ void PIDSubsystem::Periodic() {
void PIDSubsystem::SetSetpoint(double setpoint) { m_setpoint = setpoint; }
double PIDSubsystem::GetSetpoint() const { return m_setpoint; }
void PIDSubsystem::Enable() {
m_controller.Reset();
m_enabled = true;