mirror of
https://github.com/wpilibsuite/allwpilib
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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
77 lines
2.5 KiB
C++
77 lines
2.5 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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#ifndef __PID_SUBSYSTEM_H__
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#define __PID_SUBSYSTEM_H__
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#include "Commands/Subsystem.h"
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#include "PIDController.h"
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#include "PIDSource.h"
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#include "PIDOutput.h"
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#include <memory>
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/**
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* This class is designed to handle the case where there is a {@link Subsystem}
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* which uses a single {@link PIDController} almost constantly (for instance,
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* an elevator which attempts to stay at a constant height).
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*
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* <p>It provides some convenience methods to run an internal {@link
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* PIDController}.
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* It also allows access to the internal {@link PIDController} in order to give
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* total control
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* to the programmer.</p>
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*
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*/
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class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
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public:
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PIDSubsystem(const std::string &name, double p, double i, double d);
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PIDSubsystem(const std::string &name, double p, double i, double d, double f);
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PIDSubsystem(const std::string &name, double p, double i, double d, double f,
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double period);
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PIDSubsystem(double p, double i, double d);
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PIDSubsystem(double p, double i, double d, double f);
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PIDSubsystem(double p, double i, double d, double f, double period);
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virtual ~PIDSubsystem() = default;
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void Enable();
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void Disable();
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// PIDOutput interface
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virtual void PIDWrite(float output);
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// PIDSource interface
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virtual double PIDGet();
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void SetSetpoint(double setpoint);
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void SetSetpointRelative(double deltaSetpoint);
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void SetInputRange(float minimumInput, float maximumInput);
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void SetOutputRange(float minimumOutput, float maximumOutput);
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double GetSetpoint();
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double GetPosition();
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double GetRate();
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virtual void SetAbsoluteTolerance(float absValue);
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virtual void SetPercentTolerance(float percent);
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virtual bool OnTarget() const;
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protected:
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std::shared_ptr<PIDController> GetPIDController();
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virtual double ReturnPIDInput() = 0;
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virtual void UsePIDOutput(double output) = 0;
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private:
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/** The internal {@link PIDController} */
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std::shared_ptr<PIDController> m_controller;
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public:
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virtual void InitTable(std::shared_ptr<ITable> table);
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virtual std::string GetSmartDashboardType() const;
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};
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#endif
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