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artf4127: Implemented velocity PID controller

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Change-Id: I8c0f84422f7ca0ac5c50fddb282fb3452ee1d491
This commit is contained in:
Tyler Veness
2015-07-14 20:37:52 -07:00
parent f0e3bb5164
commit d5922bb037
43 changed files with 532 additions and 241 deletions
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3
wpilibc/wpilibC++Devices/include/Encoder.h
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@@ -83,7 +83,6 @@ class Encoder : public SensorBase,
void SetReverseDirection(bool reverseDirection);
void SetSamplesToAverage(int samplesToAverage);
int GetSamplesToAverage() const;
void SetPIDSourceParameter(PIDSourceParameter pidSource);
double PIDGet() const override;
void SetIndexSource(uint32_t channel, IndexingType type = kResetOnRisingEdge);
@@ -115,8 +114,6 @@ class Encoder : public SensorBase,
nullptr; // Counter object for 1x and 2x encoding
EncodingType m_encodingType; // Encoding type
int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
PIDSourceParameter
m_pidSource = kDistance; // Encoder parameter that sources a PID controller
std::shared_ptr<ITable> m_table = nullptr;
};