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wpilibc/src/main/native/include/wpi/ExpansionHubPidConstants.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <networktables/BooleanTopic.h>
+#include <networktables/DoubleTopic.h>
+#include <networktables/IntegerTopic.h>
+
+namespace frc {
+class ExpansionHubMotor;
+
+/** This class contains PID constants for an ExpansionHub motor. */
+class ExpansionHubPidConstants {
+ public:
+  /**
+   * Sets the PID Controller gain parameters.
+   *
+   * Sets the proportional, integral, and differential coefficients.
+   *
+   * @param p The proportional coefficient. Must be >= 0.
+   * @param i The integral coefficient. Must be >= 0.
+   * @param d The differential coefficient. Must be >= 0.
+   */
+  void SetPID(double p, double i, double d);
+
+  /**
+   * Sets the feed forward gains to the specified values.
+   *
+   * The units should be radians for angular systems and meters for linear
+   * systems.
+   *
+   * The PID control period is 10ms
+   *
+   * @param s The static gain in volts.
+   * @param v The velocity gain in V/(units/s).
+   * @param a The acceleration gain in V/(units/s²).
+   */
+  void SetFF(double s, double v, double a);
+
+  /**
+   * Enables continuous input.
+   *
+   * Rather then using the max and min input range as constraints, it considers
+   * them to be the same point and automatically calculates the shortest route
+   * to the setpoint.
+   *
+   * @param minimumInput The minimum value expected from the input.
+   * @param maximumInput The maximum value expected from the input.
+   */
+  void EnableContinousInput(double minimumInput, double maximumInput);
+
+  /**
+   * Disables continuous input.
+   */
+  void DisableContinousInput();
+
+  ExpansionHubPidConstants(ExpansionHubPidConstants&) = delete;
+  ExpansionHubPidConstants& operator=(ExpansionHubPidConstants&) = delete;
+
+  ExpansionHubPidConstants(ExpansionHubPidConstants&&) = default;
+  ExpansionHubPidConstants& operator=(ExpansionHubPidConstants&&) = default;
+
+  friend class ExpansionHubMotor;
+
+ private:
+  ExpansionHubPidConstants(int usbId, int channel, bool isVelocityPid);
+
+  nt::DoublePublisher m_pPublisher;
+  nt::DoublePublisher m_iPublisher;
+  nt::DoublePublisher m_dPublisher;
+  nt::DoublePublisher m_sPublisher;
+  nt::DoublePublisher m_vPublisher;
+  nt::DoublePublisher m_aPublisher;
+
+  nt::BooleanPublisher m_continuousPublisher;
+  nt::DoublePublisher m_continuousMinimumPublisher;
+  nt::DoublePublisher m_continuousMaximumPublisher;
+};
+}  // namespace frc