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Split the two command implementations into separate libraries (#2012)

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This will allow us at the user code side to determine to include old commands, new commands or both.
This commit is contained in:
Thad House
2019-11-01 21:58:54 -07:00
committed by Peter Johnson
parent 2ad15cae19
commit 509819d83f
271 changed files with 470 additions and 91 deletions
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31
wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc2/command/PIDSubsystem.h"
using namespace frc2;
PIDSubsystem::PIDSubsystem(PIDController controller)
: m_controller{controller} {}
void PIDSubsystem::Periodic() {
if (m_enabled) {
UseOutput(m_controller.Calculate(GetMeasurement(), GetSetpoint()));
}
}
void PIDSubsystem::Enable() {
m_controller.Reset();
m_enabled = true;
}
void PIDSubsystem::Disable() {
UseOutput(0);
m_enabled = false;
}
PIDController& PIDSubsystem::GetController() { return m_controller; }