mirror of
https://github.com/wpilibsuite/allwpilib
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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
62 lines
1.9 KiB
C++
62 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 <memory>
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#include <string>
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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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namespace frc {
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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(double 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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void InitTable(std::shared_ptr<ITable> subtable) override;
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std::string GetSmartDashboardType() const override;
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};
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} // namespace frc
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