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https://github.com/wpilibsuite/allwpilib
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630fc55bde
SynchronousPID provides a Calculate() function for teams to call themselves instead of running the controller with a Notifier.
25 lines
846 B
C++
25 lines
846 B
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 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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namespace frc {
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class PIDInterface {
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virtual void SetPID(double p, double i, double d) = 0;
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virtual double GetP() const = 0;
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virtual double GetI() const = 0;
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virtual double GetD() const = 0;
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virtual void SetSetpoint(double setpoint) = 0;
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virtual double GetSetpoint() const = 0;
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virtual void Reset() = 0;
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};
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} // namespace frc
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