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https://github.com/wpilibsuite/allwpilib
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534ea134a4
This deals with the majority of the user-facing code in wpilibC++Devices and a substantial portion of it in wpilibC++. wpilibC++Sim and wpilibC++IntegrationTests are untouched except where it is necessary to make them work with the rest of the libraries. There is still a lot to do in the following areas: -The HAL (which we may not want to touch at all). -The I2C, Serial, and SPI interfaces in wpilibC++Devices, which I haven't gotten around to doing yet. -Most wpilibC++Devices classes have void* pointers for interacting with the HAL. -InterruptableSensorBase passes a void *params for the interrupt handler. -I haven't converted all the const char* to std::strings. -There are plenty of other cases of raw pointers still existing. -This doesn't fall directly under raw pointer stuff, but move syntax and rvalue references could be introduced in many places. -I haven't touched vision code. -The Resource classes conflict (one is in the hal, the other in wpilibC++). Someone should figure out a more permanent fix (eg, just renaming them), then doing what I did (making a new namespace for one of them, essentially the same as renaming it). A few other things: -I created a NullDeleter class which is marked as deprecated. What this does is it can be passed as the deleter to a std::shared_ptr so that when you are converting raw pointers to shared_ptrs the shared_ptr doesn't do any deletion if someone else owns the raw pointer. This should only be used in making old raw pointer UIs. -I had to alter the build.gradle so that it did not emit errors when deprecated functions called deprecated functions. Unfortunately, gradle doesn't appear to be actually printing out gcc warnigns for some reason. The best way I have found to fix this is to patch the toolchains (https://bitbucket.org/byteit101/toolchain-builder/pull-request/5/make-gcc-not-throw-warnings-for-nested/diff) so that a deprecated function calling a deprecated function is fine but a non-deprecated function calling a deprecated function will throw a warning (which we then elevate with -Werror). I believe that clang deals with this properly, although I have not tried it myself. Change-Id: Ib8090c66893576fe73654f4e9d268f9d37be06a2
76 lines
2.4 KiB
C++
76 lines
2.4 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 char *name, double p, double i, double d);
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PIDSubsystem(const char *name, double p, double i, double d, double f);
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PIDSubsystem(const char *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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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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