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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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97
wpilibOldCommands/src/main/native/cpp/commands/PIDSubsystem.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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 "frc/commands/PIDSubsystem.h"
#include "frc/PIDController.h"
using namespace frc;
PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d)
: Subsystem(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
AddChild("PIDController", m_controller);
}
PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d,
double f)
: Subsystem(name) {
m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
AddChild("PIDController", m_controller);
}
PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d,
double f, double period)
: Subsystem(name) {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
AddChild("PIDController", m_controller);
}
PIDSubsystem::PIDSubsystem(double p, double i, double d)
: Subsystem("PIDSubsystem") {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
AddChild("PIDController", m_controller);
}
PIDSubsystem::PIDSubsystem(double p, double i, double d, double f)
: Subsystem("PIDSubsystem") {
m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
AddChild("PIDController", m_controller);
}
PIDSubsystem::PIDSubsystem(double p, double i, double d, double f,
double period)
: Subsystem("PIDSubsystem") {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
AddChild("PIDController", m_controller);
}
void PIDSubsystem::Enable() { m_controller->Enable(); }
void PIDSubsystem::Disable() { m_controller->Disable(); }
void PIDSubsystem::PIDWrite(double output) { UsePIDOutput(output); }
double PIDSubsystem::PIDGet() { return ReturnPIDInput(); }
void PIDSubsystem::SetSetpoint(double setpoint) {
m_controller->SetSetpoint(setpoint);
}
void PIDSubsystem::SetSetpointRelative(double deltaSetpoint) {
SetSetpoint(GetSetpoint() + deltaSetpoint);
}
void PIDSubsystem::SetInputRange(double minimumInput, double maximumInput) {
m_controller->SetInputRange(minimumInput, maximumInput);
}
void PIDSubsystem::SetOutputRange(double minimumOutput, double maximumOutput) {
m_controller->SetOutputRange(minimumOutput, maximumOutput);
}
double PIDSubsystem::GetSetpoint() { return m_controller->GetSetpoint(); }
double PIDSubsystem::GetPosition() { return ReturnPIDInput(); }
double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
void PIDSubsystem::SetAbsoluteTolerance(double absValue) {
m_controller->SetAbsoluteTolerance(absValue);
}
void PIDSubsystem::SetPercentTolerance(double percent) {
m_controller->SetPercentTolerance(percent);
}
bool PIDSubsystem::OnTarget() const { return m_controller->OnTarget(); }
std::shared_ptr<PIDController> PIDSubsystem::GetPIDController() {
return m_controller;
}