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PIDController now supports composition (#976)

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For example, an outer position feedback controller can now drive the
reference of an inner velocity feedback controller.
This commit is contained in:
Tyler Veness
2018-05-19 01:32:43 -07:00
committed by Peter Johnson
parent 5cc7573574
commit df182f382e
3 changed files with 31 additions and 4 deletions
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7
wpilibc/src/main/native/include/PIDBase.h
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@@ -16,14 +16,13 @@
#include "Base.h"
#include "Filters/LinearDigitalFilter.h"
#include "PIDInterface.h"
#include "PIDOutput.h"
#include "PIDSource.h"
#include "SmartDashboard/SendableBase.h"
#include "Timer.h"
namespace frc {
class PIDOutput;
/**
* Class implements a PID Control Loop.
*
@@ -34,7 +33,7 @@ class PIDOutput;
* in the integral and derivative calculations. Therefore, the sample rate
* affects the controller's behavior for a given set of PID constants.
*/
class PIDBase : public SendableBase, public PIDInterface {
class PIDBase : public SendableBase, public PIDInterface, public PIDOutput {
public:
PIDBase(double p, double i, double d, PIDSource& source, PIDOutput& output);
PIDBase(double p, double i, double d, double f, PIDSource& source,
@@ -83,6 +82,8 @@ class PIDBase : public SendableBase, public PIDInterface {
void Reset() override;
void PIDWrite(double output) override;
void InitSendable(SendableBuilder& builder) override;
protected: