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Update to 2018_v4 image and new build system. (#598)

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* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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61
wpilibc/src/main/native/include/Commands/PIDCommand.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. 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 <memory>
#include <string>
#include "Commands/Command.h"
#include "PIDController.h"
#include "PIDOutput.h"
#include "PIDSource.h"
namespace frc {
class PIDCommand : public Command, public PIDOutput, public PIDSource {
public:
PIDCommand(const std::string& name, double p, double i, double d);
PIDCommand(const std::string& name, double p, double i, double d,
double period);
PIDCommand(const std::string& name, double p, double i, double d, double f,
double period);
PIDCommand(double p, double i, double d);
PIDCommand(double p, double i, double d, double period);
PIDCommand(double p, double i, double d, double f, double period);
virtual ~PIDCommand() = default;
void SetSetpointRelative(double deltaSetpoint);
// PIDOutput interface
virtual void PIDWrite(double output);
// PIDSource interface
virtual double PIDGet();
protected:
std::shared_ptr<PIDController> GetPIDController() const;
virtual void _Initialize();
virtual void _Interrupted();
virtual void _End();
void SetSetpoint(double setpoint);
double GetSetpoint() const;
double GetPosition();
virtual double ReturnPIDInput() = 0;
virtual void UsePIDOutput(double output) = 0;
private:
/** The internal {@link PIDController} */
std::shared_ptr<PIDController> m_controller;
public:
void InitTable(std::shared_ptr<ITable> subtable) override;
std::string GetSmartDashboardType() const override;
};
} // namespace frc