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https://github.com/wpilibsuite/allwpilib
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6dcd2b0e2c
Improves the APIs for various prebuilt subsystems (PIDSubsystem, TrapezoidProfileSubsystem, ProfiledPIDSubsystem). Addresses #2128, and also changes the rather cumbersome getSetpoint API to a more intuitive setSetpoint one. Updates examples to match.
36 lines
1.1 KiB
C++
36 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 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 <frc/Encoder.h>
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#include <frc/PWMVictorSPX.h>
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#include <frc/controller/SimpleMotorFeedforward.h>
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#include <frc2/command/PIDSubsystem.h>
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#include <units/units.h>
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class ShooterSubsystem : public frc2::PIDSubsystem {
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public:
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ShooterSubsystem();
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void UseOutput(double output, double setpoint) override;
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double GetMeasurement() override;
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bool AtSetpoint();
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void RunFeeder();
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void StopFeeder();
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private:
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frc::PWMVictorSPX m_shooterMotor;
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frc::PWMVictorSPX m_feederMotor;
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frc::Encoder m_shooterEncoder;
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frc::SimpleMotorFeedforward<units::turns> m_shooterFeedforward;
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};
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