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630fc55bde
SynchronousPID provides a Calculate() function for teams to call themselves instead of running the controller with a Notifier.
34 lines
1.1 KiB
C++
34 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 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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#pragma once
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#include "PIDBase.h"
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namespace frc {
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/**
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* Class implements a synchronous PID control loop.
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*
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* Provides a calculate method for the user to call at their desired update
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* rate.
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*/
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class SynchronousPID : public PIDBase {
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public:
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SynchronousPID(double Kp, double Ki, double Kd, PIDSource& source,
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PIDOutput& output);
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SynchronousPID(double Kp, double Ki, double Kd, double Kf, PIDSource& source,
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PIDOutput& output);
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SynchronousPID(const SynchronousPID&) = delete;
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SynchronousPID& operator=(const SynchronousPID) = delete;
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void Calculate() override;
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};
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} // namespace frc
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