mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
05626cfafe
* Fixed cpplint.py [build/include_order] and [build/include_what_you_use] warnings * Fixed cpplint.py [readability/casting] warnings * Updated .styleguide format * Fixed cpplint.py [build/header_guard] warnings
58 lines
1.9 KiB
C++
58 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2011-2016. 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"
|
|
|
|
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(float 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;
|
|
};
|