mirror of
https://github.com/wpilibsuite/allwpilib
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40 lines
1.2 KiB
C++
40 lines
1.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 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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#pragma once
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namespace frc {
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enum class PIDSourceType { kDisplacement, kRate };
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/**
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* PIDSource interface is a generic sensor source for the PID class.
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*
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* All sensors that can be used with the PID class will implement the PIDSource
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* that returns a standard value that will be used in the PID code.
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*/
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class PIDSource {
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public:
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virtual ~PIDSource() = default;
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/**
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* Set which parameter you are using as a process control variable.
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*
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* @param pidSource An enum to select the parameter.
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*/
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virtual void SetPIDSourceType(PIDSourceType pidSource);
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virtual PIDSourceType GetPIDSourceType() const;
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virtual double PIDGet() = 0;
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protected:
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PIDSourceType m_pidSource = PIDSourceType::kDisplacement;
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};
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} // namespace frc
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