mirror of
https://github.com/wpilibsuite/allwpilib
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59 lines
1.8 KiB
C++
59 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011. All Rights Reserved.
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*/
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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 "PIDController.h"
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#include "PIDSource.h"
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#include "PIDOutput.h"
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#include <memory>
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class PIDCommand : public Command, public PIDOutput, public PIDSource {
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public:
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PIDCommand(const std::string &name, double p, double i, double d);
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PIDCommand(const std::string &name, double p, double i, double d, double period);
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PIDCommand(const std::string &name, double p, double i, double d, double f,
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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() = default;
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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() const;
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protected:
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PIDController *GetPIDController() const;
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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() const;
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double GetPosition() const;
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virtual double ReturnPIDInput() const = 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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std::unique_ptr<PIDController> m_controller;
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public:
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virtual void InitTable(std::shared_ptr<ITable> table);
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virtual std::string GetSmartDashboardType() const;
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};
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#endif
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