Add TrapezoidProfile external PID examples (#2131)

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h

@@ -0,0 +1,87 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/SpeedController.h>
+
+/**
+ * A simplified stub class that simulates the API of a common "smart" motor
+ * controller.
+ *
+ * <p>Has no actual functionality.
+ */
+class ExampleSmartMotorController : public frc::SpeedController {
+ public:
+  enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };
+
+  /**
+   * Creates a new ExampleSmartMotorController.
+   *
+   * @param port The port for the controller.
+   */
+  explicit ExampleSmartMotorController(int port) {}
+
+  /**
+   * Example method for setting the PID gains of the smart controller.
+   *
+   * @param kp The proportional gain.
+   * @param ki The integral gain.
+   * @param kd The derivative gain.
+   */
+  void SetPID(double kp, double ki, double kd) {}
+
+  /**
+   * Example method for setting the setpoint of the smart controller in PID
+   * mode.
+   *
+   * @param mode The mode of the PID controller.
+   * @param setpoint The controller setpoint.
+   * @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
+   */
+  void SetSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
+
+  /**
+   * Places this motor controller in follower mode.
+   *
+   * @param master The master to follow.
+   */
+  void Follow(ExampleSmartMotorController master) {}
+
+  /**
+   * Returns the encoder distance.
+   *
+   * @return The current encoder distance.
+   */
+  double GetEncoderDistance() { return 0; }
+
+  /**
+   * Returns the encoder rate.
+   *
+   * @return The current encoder rate.
+   */
+  double GetEncoderRate() { return 0; }
+
+  /**
+   * Resets the encoder to zero distance.
+   */
+  void ResetEncoder() {}
+
+  void Set(double speed) override {}
+
+  double Get() const override { return 0; }
+
+  void SetInverted(bool isInverted) override {}
+
+  bool GetInverted() const override { return false; }
+
+  void Disable() override {}
+
+  void StopMotor() override {}
+
+  void PIDWrite(double output) override {}
+};