mirror of
https://github.com/wpilibsuite/allwpilib
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27b67deca6
This adds the following widgets: - Speed Controller - Gyroscope - Command - Subsystem - PIDController - Scheduler
76 lines
2.7 KiB
C++
76 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 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 "glass/networktables/NTPIDController.h"
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using namespace glass;
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NTPIDControllerModel::NTPIDControllerModel(wpi::StringRef path)
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: NTPIDControllerModel(nt::GetDefaultInstance(), path) {}
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NTPIDControllerModel::NTPIDControllerModel(NT_Inst instance,
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wpi::StringRef path)
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: m_nt(instance),
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m_name(m_nt.GetEntry(path + "/.name")),
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m_p(m_nt.GetEntry(path + "/p")),
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m_i(m_nt.GetEntry(path + "/i")),
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m_d(m_nt.GetEntry(path + "/d")),
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m_setpoint(m_nt.GetEntry(path + "/setpoint")),
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m_pData("NTPIDCtrlP:" + path),
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m_iData("NTPIDCtrlI:" + path),
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m_dData("NTPIDCtrlD:" + path),
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m_setpointData("NTPIDCtrlStpt:" + path),
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m_nameValue(path.rsplit('/').second) {
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m_nt.AddListener(m_name);
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m_nt.AddListener(m_p);
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m_nt.AddListener(m_i);
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m_nt.AddListener(m_d);
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m_nt.AddListener(m_setpoint);
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Update();
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}
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void NTPIDControllerModel::SetP(double value) {
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nt::SetEntryValue(m_p, nt::NetworkTableValue::MakeDouble(value));
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}
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void NTPIDControllerModel::SetI(double value) {
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nt::SetEntryValue(m_i, nt::NetworkTableValue::MakeDouble(value));
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}
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void NTPIDControllerModel::SetD(double value) {
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nt::SetEntryValue(m_d, nt::NetworkTableValue::MakeDouble(value));
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}
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void NTPIDControllerModel::SetSetpoint(double value) {
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nt::SetEntryValue(m_setpoint, nt::NetworkTableValue::MakeDouble(value));
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}
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void NTPIDControllerModel::Update() {
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for (auto&& event : m_nt.PollListener()) {
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if (event.entry == m_name) {
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if (event.value && event.value->IsString())
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m_nameValue = event.value->GetString();
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} else if (event.entry == m_p) {
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if (event.value && event.value->IsDouble())
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m_pData.SetValue(event.value->GetDouble());
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} else if (event.entry == m_i) {
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if (event.value && event.value->IsDouble())
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m_iData.SetValue(event.value->GetDouble());
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} else if (event.entry == m_d) {
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if (event.value && event.value->IsDouble())
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m_dData.SetValue(event.value->GetDouble());
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} else if (event.entry == m_setpoint) {
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if (event.value && event.value->IsDouble())
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m_setpointData.SetValue(event.value->GetDouble());
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}
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}
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}
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bool NTPIDControllerModel::Exists() {
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return m_nt.IsConnected() && nt::GetEntryType(m_setpoint) != NT_UNASSIGNED;
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}
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