Allowed sharing of common C++ code between RoboRIO and Simulation.

Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8

wpilibc/wpilibC++/src/Commands/PIDCommand.cpp

@@ -0,0 +1,106 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "Commands/PIDCommand.h"
+
+#include "PIDController.h"
+#include "float.h"
+
+PIDCommand::PIDCommand(const char *name, double p, double i, double d, double f, double period) :
+		Command(name)
+{
+	m_controller = new PIDController(p, i, d, this, this, period);
+}
+
+PIDCommand::PIDCommand(double p, double i, double d, double f, double period)
+{
+	m_controller = new PIDController(p, i, d, f, this, this, period);
+}
+
+PIDCommand::PIDCommand(const char *name, double p, double i, double d) :
+	Command(name)
+{
+	m_controller = new PIDController(p, i, d, this, this);
+}
+
+PIDCommand::PIDCommand(const char *name, double p, double i, double d, double period) :
+	Command(name)
+{
+	m_controller = new PIDController(p, i, d, this, this, period);
+}
+
+PIDCommand::PIDCommand(double p, double i, double d)
+{
+	m_controller = new PIDController(p, i, d, this, this);
+}
+
+PIDCommand::PIDCommand(double p, double i, double d, double period)
+{
+	m_controller = new PIDController(p, i, d, this, this, period);
+}
+
+PIDCommand::~PIDCommand()
+{
+	delete m_controller;
+}
+
+void PIDCommand::_Initialize()
+{
+	m_controller->Enable();
+}
+
+void PIDCommand::_End()
+{
+	m_controller->Disable();
+}
+
+void PIDCommand::_Interrupted()
+{
+	_End();
+}
+
+void PIDCommand::SetSetpointRelative(double deltaSetpoint)
+{
+	SetSetpoint(GetSetpoint() + deltaSetpoint);
+}
+
+void PIDCommand::PIDWrite(float output)
+{
+	UsePIDOutput(output);
+}
+
+double PIDCommand::PIDGet()
+{
+	return ReturnPIDInput();
+}
+
+PIDController *PIDCommand::GetPIDController()
+{
+	return m_controller;
+}
+
+void PIDCommand::SetSetpoint(double setpoint)
+{
+	m_controller->SetSetpoint(setpoint);
+}
+
+double PIDCommand::GetSetpoint()
+{
+	return m_controller->GetSetpoint();
+}
+
+double PIDCommand::GetPosition()
+{
+	return ReturnPIDInput();
+}
+
+std::string PIDCommand::GetSmartDashboardType(){
+        return "PIDCommand";
+}
+void PIDCommand::InitTable(ITable* table){
+	m_controller->InitTable(table);
+	Command::InitTable(table);
+}