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Improve various subsystem APIs (#2130)

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Improves the APIs for various prebuilt subsystems (PIDSubsystem, TrapezoidProfileSubsystem, ProfiledPIDSubsystem). Addresses #2128, and also changes the rather cumbersome getSetpoint API to a more intuitive setSetpoint one. Updates examples to match.
This commit is contained in:
Oblarg
2019-11-26 00:46:47 -05:00
committed by Peter Johnson
parent ce3973435e
commit 6dcd2b0e2c
19 changed files with 184 additions and 204 deletions
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9
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h
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@@ -9,20 +9,18 @@
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc2/command/PIDSubsystem.h>
#include <units/units.h>
class ShooterSubsystem : public frc2::PIDSubsystem {
public:
ShooterSubsystem();
void UseOutput(double output) override;
double GetSetpoint() override;
void UseOutput(double output, double setpoint) override;
double GetMeasurement() override;
void Disable() override;
bool AtSetpoint();
void RunFeeder();
@@ -33,4 +31,5 @@ class ShooterSubsystem : public frc2::PIDSubsystem {
frc::PWMVictorSPX m_shooterMotor;
frc::PWMVictorSPX m_feederMotor;
frc::Encoder m_shooterEncoder;
frc::SimpleMotorFeedforward<units::turns> m_shooterFeedforward;
};