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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.
72 lines
2.5 KiB
C++
72 lines
2.5 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/Subsystem.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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/**
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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}. It also allows access to the internal {@link PIDController}
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* in order to give total control 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();
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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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std::shared_ptr<PIDController> GetPIDController();
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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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