mirror of
https://github.com/wpilibsuite/allwpilib
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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
42 lines
1.1 KiB
C++
42 lines
1.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include "frc/ErrorBase.h"
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#include "frc/PIDSource.h"
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#include "frc/interfaces/Gyro.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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/**
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* GyroBase is the common base class for Gyro implementations such as
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* AnalogGyro.
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*/
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class GyroBase : public Gyro,
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public ErrorBase,
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public PIDSource,
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public Sendable,
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public SendableHelper<GyroBase> {
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public:
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GyroBase() = default;
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GyroBase(GyroBase&&) = default;
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GyroBase& operator=(GyroBase&&) = default;
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// PIDSource interface
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/**
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* Get the PIDOutput for the PIDSource base object. Can be set to return
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* angle or rate using SetPIDSourceType(). Defaults to angle.
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*
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* @return The PIDOutput (angle or rate, defaults to angle)
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*/
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double PIDGet() override;
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void InitSendable(SendableBuilder& builder) override;
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};
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} // namespace frc
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