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34 lines
910 B
C++
34 lines
910 B
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include "frc/AnalogGyro.h"
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#include "frc/PIDSource.h"
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namespace frc {
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/**
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* Wrapper so that PIDSource is implemented for AnalogGyro for old PIDController
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*
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* @deprecated Use frc2::PIDController class instead which doesn't require this
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* wrapper.
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*/
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class WPI_DEPRECATED("Use frc2::PIDController class instead.") PIDAnalogGyro
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: public PIDSource,
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public AnalogGyro {
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using AnalogGyro::AnalogGyro;
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public:
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/**
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* Get the PIDOutput for the PIDSource base object. Can be set to return
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* angle or rate using SetPIDSourceType(). Defaults to angle.
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*
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* @return The PIDOutput (angle or rate, defaults to angle)
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*/
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double PIDGet() override;
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};
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} // namespace frc
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