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Implemented synchronous PID controller (#993)

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SynchronousPID provides a Calculate() function for teams to call themselves
instead of running the controller with a Notifier.
This commit is contained in:
Tyler Veness
2018-05-16 19:51:37 -07:00
committed by Peter Johnson
parent f90e429bf9
commit 630fc55bde
11 changed files with 1698 additions and 1379 deletions
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8
wpilibc/src/main/native/include/PIDInterface.h
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@@ -7,11 +7,9 @@
#pragma once
#include "Controller.h"
namespace frc {
class PIDInterface : public Controller {
class PIDInterface {
virtual void SetPID(double p, double i, double d) = 0;
virtual double GetP() const = 0;
virtual double GetI() const = 0;
@@ -20,10 +18,6 @@ class PIDInterface : public Controller {
virtual void SetSetpoint(double setpoint) = 0;
virtual double GetSetpoint() const = 0;
virtual void Enable() = 0;
virtual void Disable() = 0;
virtual bool IsEnabled() const = 0;
virtual void Reset() = 0;
};