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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
57 lines
1.6 KiB
C++
57 lines
1.6 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_COMMAND_H__
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#define __PID_COMMAND_H__
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#include "Commands/Command.h"
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#include "PIDSource.h"
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#include "PIDOutput.h"
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class PIDController;
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class PIDCommand : public Command, public PIDOutput, public PIDSource
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{
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public:
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PIDCommand(const char *name, double p, double i, double d);
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PIDCommand(const char *name, double p, double i, double d, double period);
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PIDCommand(const char *name, double p, double i, double d, double f, double perioid);
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PIDCommand(double p, double i, double d);
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PIDCommand(double p, double i, double d, double period);
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PIDCommand(double p, double i, double d, double f, double period);
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virtual ~PIDCommand();
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void SetSetpointRelative(double deltaSetpoint);
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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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protected:
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PIDController *GetPIDController();
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virtual void _Initialize();
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virtual void _Interrupted();
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virtual void _End();
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void SetSetpoint(double setpoint);
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double GetSetpoint();
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double GetPosition();
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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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