mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
72 lines
2.4 KiB
C++
72 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "Commands/PIDCommand.h"
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#include "float.h"
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PIDCommand::PIDCommand(const std::string &name, double p, double i, double d, double f,
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double period)
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: Command(name) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
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}
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PIDCommand::PIDCommand(double p, double i, double d, double f, double period) {
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m_controller = std::make_shared<PIDController>(p, i, d, f, this, this, period);
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}
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PIDCommand::PIDCommand(const std::string &name, double p, double i, double d)
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: Command(name) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this);
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}
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PIDCommand::PIDCommand(const std::string &name, double p, double i, double d,
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double period)
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: Command(name) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
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}
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PIDCommand::PIDCommand(double p, double i, double d) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this);
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}
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PIDCommand::PIDCommand(double p, double i, double d, double period) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
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}
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void PIDCommand::_Initialize() { m_controller->Enable(); }
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void PIDCommand::_End() { m_controller->Disable(); }
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void PIDCommand::_Interrupted() { _End(); }
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void PIDCommand::SetSetpointRelative(double deltaSetpoint) {
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SetSetpoint(GetSetpoint() + deltaSetpoint);
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}
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void PIDCommand::PIDWrite(float output) { UsePIDOutput(output); }
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double PIDCommand::PIDGet() { return ReturnPIDInput(); }
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std::shared_ptr<PIDController> PIDCommand::GetPIDController() const {
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return m_controller;
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}
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void PIDCommand::SetSetpoint(double setpoint) {
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m_controller->SetSetpoint(setpoint);
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}
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double PIDCommand::GetSetpoint() const { return m_controller->GetSetpoint(); }
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double PIDCommand::GetPosition() { return ReturnPIDInput(); }
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std::string PIDCommand::GetSmartDashboardType() const { return "PIDCommand"; }
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void PIDCommand::InitTable(std::shared_ptr<ITable> table) {
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m_controller->InitTable(table);
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Command::InitTable(table);
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}
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