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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.
37 lines
953 B
C++
37 lines
953 B
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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namespace frc {
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enum class PIDSourceType { kDisplacement, kRate };
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/**
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* PIDSource interface is a generic sensor source for the PID class.
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*
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* All sensors that can be used with the PID class will implement the PIDSource
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* that returns a standard value that will be used in the PID code.
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*/
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class PIDSource {
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public:
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virtual ~PIDSource() = default;
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/**
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* Set which parameter you are using as a process control variable.
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*
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* @param pidSource An enum to select the parameter.
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*/
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virtual void SetPIDSourceType(PIDSourceType pidSource);
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virtual PIDSourceType GetPIDSourceType() const;
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virtual double PIDGet() = 0;
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protected:
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PIDSourceType m_pidSource = PIDSourceType::kDisplacement;
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};
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} // namespace frc
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