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https://github.com/wpilibsuite/allwpilib
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62812faf62
* Replaced include guards with #pragma once * All source files now have exactly one newline appended Some files had either two newlines at the end or none (which isn't POSIX compliant). This patch fixes that.
57 lines
1.9 KiB
C++
57 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011-2016. 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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#include "Commands/Command.h"
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#include "PIDController.h"
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#include "PIDOutput.h"
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#include "PIDSource.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,
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double period);
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PIDCommand(const std::string& name, double p, double i, double d, double f,
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double period);
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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();
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protected:
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std::shared_ptr<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();
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virtual double ReturnPIDInput() = 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::shared_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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