mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
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.
77 lines
2.6 KiB
C++
77 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2011-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include "Commands/Subsystem.h"
|
|
#include "PIDController.h"
|
|
#include "PIDOutput.h"
|
|
#include "PIDSource.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* This class is designed to handle the case where there is a {@link Subsystem}
|
|
* which uses a single {@link PIDController} almost constantly (for instance,
|
|
* an elevator which attempts to stay at a constant height).
|
|
*
|
|
* <p>It provides some convenience methods to run an internal {@link
|
|
* PIDController}. It also allows access to the internal {@link PIDController}
|
|
* in order to give total control to the programmer.</p>
|
|
*
|
|
*/
|
|
class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
|
|
public:
|
|
PIDSubsystem(const std::string& name, double p, double i, double d);
|
|
PIDSubsystem(const std::string& name, double p, double i, double d, double f);
|
|
PIDSubsystem(const std::string& name, double p, double i, double d, double f,
|
|
double period);
|
|
PIDSubsystem(double p, double i, double d);
|
|
PIDSubsystem(double p, double i, double d, double f);
|
|
PIDSubsystem(double p, double i, double d, double f, double period);
|
|
virtual ~PIDSubsystem() = default;
|
|
|
|
void Enable();
|
|
void Disable();
|
|
|
|
// PIDOutput interface
|
|
virtual void PIDWrite(double output);
|
|
|
|
// PIDSource interface
|
|
virtual double PIDGet();
|
|
void SetSetpoint(double setpoint);
|
|
void SetSetpointRelative(double deltaSetpoint);
|
|
void SetInputRange(double minimumInput, double maximumInput);
|
|
void SetOutputRange(double minimumOutput, double maximumOutput);
|
|
double GetSetpoint();
|
|
double GetPosition();
|
|
double GetRate();
|
|
|
|
virtual void SetAbsoluteTolerance(double absValue);
|
|
virtual void SetPercentTolerance(double percent);
|
|
virtual bool OnTarget() const;
|
|
|
|
protected:
|
|
std::shared_ptr<PIDController> GetPIDController();
|
|
|
|
virtual double ReturnPIDInput() = 0;
|
|
virtual void UsePIDOutput(double output) = 0;
|
|
|
|
private:
|
|
/** The internal {@link PIDController} */
|
|
std::shared_ptr<PIDController> m_controller;
|
|
|
|
public:
|
|
void InitTable(std::shared_ptr<ITable> subtable) override;
|
|
std::string GetSmartDashboardType() const override;
|
|
};
|
|
|
|
} // namespace frc
|