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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011. 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 $(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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/**
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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 PIDController}.
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* It also allows access to the internal {@link PIDController} in order to give 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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{
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public:
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PIDSubsystem(const char *name, double p, double i, double d);
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PIDSubsystem(const char *name, double p, double i, double d, double f);
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PIDSubsystem(const char *name, double p, double i, double d, double f, 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();
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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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double GetSetpoint();
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double GetPosition();
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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();
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protected:
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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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PIDController *m_controller;
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public:
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virtual void InitTable(ITable* table);
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virtual std::string GetSmartDashboardType();
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};
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#endif
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