mirror of
https://github.com/wpilibsuite/allwpilib
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509819d83f
This will allow us at the user code side to determine to include old commands, new commands or both.
109 lines
3.8 KiB
C++
109 lines
3.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2019 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 "frc/commands/PIDCommand.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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using namespace frc;
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PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
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double f, double period)
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: Command(name) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
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}
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PIDCommand::PIDCommand(double p, double i, double d, double f, double period) {
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m_controller =
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std::make_shared<PIDController>(p, i, d, f, this, this, period);
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}
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PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d)
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: Command(name) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this);
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}
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PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
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double period)
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: Command(name) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
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}
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PIDCommand::PIDCommand(double p, double i, double d) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this);
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}
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PIDCommand::PIDCommand(double p, double i, double d, double period) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
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}
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PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
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double f, double period, Subsystem& subsystem)
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: Command(name, subsystem) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
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}
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PIDCommand::PIDCommand(double p, double i, double d, double f, double period,
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Subsystem& subsystem)
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: Command(subsystem) {
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m_controller =
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std::make_shared<PIDController>(p, i, d, f, this, this, period);
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}
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PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
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Subsystem& subsystem)
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: Command(name, subsystem) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this);
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}
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PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
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double period, Subsystem& subsystem)
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: Command(name, subsystem) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
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}
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PIDCommand::PIDCommand(double p, double i, double d, Subsystem& subsystem) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this);
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}
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PIDCommand::PIDCommand(double p, double i, double d, double period,
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Subsystem& subsystem) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
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}
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void PIDCommand::_Initialize() { m_controller->Enable(); }
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void PIDCommand::_End() { m_controller->Disable(); }
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void PIDCommand::_Interrupted() { _End(); }
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void PIDCommand::SetSetpointRelative(double deltaSetpoint) {
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SetSetpoint(GetSetpoint() + deltaSetpoint);
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}
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void PIDCommand::PIDWrite(double output) { UsePIDOutput(output); }
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double PIDCommand::PIDGet() { return ReturnPIDInput(); }
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std::shared_ptr<PIDController> PIDCommand::GetPIDController() const {
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return m_controller;
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}
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void PIDCommand::SetSetpoint(double setpoint) {
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m_controller->SetSetpoint(setpoint);
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}
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double PIDCommand::GetSetpoint() const { return m_controller->GetSetpoint(); }
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double PIDCommand::GetPosition() { return ReturnPIDInput(); }
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void PIDCommand::InitSendable(SendableBuilder& builder) {
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m_controller->InitSendable(builder);
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Command::InitSendable(builder);
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builder.SetSmartDashboardType("PIDCommand");
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}
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