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4013402134
Added a PIDInterface for the PIDContrller, CANJaguar, and CANTalon to inherit from. Change-Id: I88d4943159476a44400009703db5e79d8cd4b5a9
23 lines
515 B
C++
23 lines
515 B
C++
#pragma once
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#include "Base.h"
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#include "Controller.h"
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#include "LiveWindow/LiveWindow.h"
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#include "HAL/Semaphore.hpp"
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class PIDInterface : public Controller {
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virtual void SetPID(double p, double i, double d)=0;
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virtual double GetP() const=0;
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virtual double GetI() const=0;
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virtual double GetD() const=0;
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virtual void SetSetpoint(float setpoint)=0;
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virtual double GetSetpoint() const=0;
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virtual void Enable()=0;
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virtual void Disable()=0;
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virtual bool IsEnabled() const=0;
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virtual void Reset()=0;
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};
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