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https://github.com/wpilibsuite/allwpilib
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77 lines
2.5 KiB
C++
77 lines
2.5 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_SUBSYSTEM_H__
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#define __PID_SUBSYSTEM_H__
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#include "Commands/Subsystem.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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/**
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* This class is designed to handle the case where there is a {@link Subsystem}
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* which uses a single {@link PIDController} almost constantly (for instance,
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* an elevator which attempts to stay at a constant height).
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*
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* <p>It provides some convenience methods to run an internal {@link
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* PIDController}.
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* It also allows access to the internal {@link PIDController} in order to give
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* total control
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* to the programmer.</p>
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*
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*/
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class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
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public:
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PIDSubsystem(const std::string &name, double p, double i, double d);
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PIDSubsystem(const std::string &name, double p, double i, double d, double f);
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PIDSubsystem(const std::string &name, double p, double i, double d, double f,
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double period);
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PIDSubsystem(double p, double i, double d);
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PIDSubsystem(double p, double i, double d, double f);
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PIDSubsystem(double p, double i, double d, double f, double period);
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virtual ~PIDSubsystem() = default;
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void Enable();
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void Disable();
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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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void SetSetpoint(double setpoint);
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void SetSetpointRelative(double deltaSetpoint);
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void SetInputRange(float minimumInput, float maximumInput);
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void SetOutputRange(float minimumOutput, float maximumOutput);
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double GetSetpoint();
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double GetPosition();
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double GetRate();
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virtual void SetAbsoluteTolerance(float absValue);
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virtual void SetPercentTolerance(float percent);
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virtual bool OnTarget() const;
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protected:
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PIDController *GetPIDController();
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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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