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https://github.com/wpilibsuite/allwpilib
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076ed7770c
This is the C++ version of #1682. The old command framework is still available, but will be deprecated. Due to name conflicts, the new framework is in the frc2 namespace. Eventually (after the old command framework is removed in a future year) it will be moved into the main frc namespace.
56 lines
2.1 KiB
C++
56 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc2/command/PIDCommand.h"
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using namespace frc2;
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PIDCommand::PIDCommand(PIDController controller,
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std::function<double()> measurementSource,
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std::function<double()> setpointSource,
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std::function<void(double)> useOutput,
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std::initializer_list<Subsystem*> requirements)
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: m_controller{controller},
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m_measurement{std::move(measurementSource)},
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m_setpoint{std::move(setpointSource)},
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m_useOutput{std::move(useOutput)} {
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AddRequirements(requirements);
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}
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PIDCommand::PIDCommand(PIDController controller,
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std::function<double()> measurementSource,
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double setpoint, std::function<void(double)> useOutput,
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std::initializer_list<Subsystem*> requirements)
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: PIDCommand(controller, measurementSource, [setpoint] { return setpoint; },
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useOutput, requirements) {}
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void PIDCommand::Initialize() { m_controller.Reset(); }
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void PIDCommand::Execute() {
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m_useOutput(m_controller.Calculate(m_measurement(), m_setpoint()));
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}
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void PIDCommand::End(bool interrupted) { m_useOutput(0); }
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void PIDCommand::SetOutput(std::function<void(double)> useOutput) {
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m_useOutput = useOutput;
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}
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void PIDCommand::SetSetpoint(std::function<double()> setpointSource) {
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m_setpoint = setpointSource;
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}
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void PIDCommand::SetSetpoint(double setpoint) {
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m_setpoint = [setpoint] { return setpoint; };
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}
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void PIDCommand::SetSetpointRelative(double relativeSetpoint) {
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SetSetpoint(m_setpoint() + relativeSetpoint);
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}
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PIDController& PIDCommand::getController() { return m_controller; }
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