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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/GearsBot/include/subsystems/Wrist.h
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@@ -35,14 +35,7 @@ class Wrist : public frc2::PIDSubsystem {
* by
* the subsystem.
*/
void UseOutput(double d) override;
double GetSetpoint() override;
/**
* Sets the setpoint for the subsystem.
*/
void SetSetpoint(double setpoint);
void UseOutput(double output, double setpoint) override;
private:
frc::PWMVictorSPX m_motor{6};