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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
98 lines
3.3 KiB
C++
98 lines
3.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2018 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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#include "frc/commands/PIDSubsystem.h"
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#include "frc/PIDController.h"
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using namespace frc;
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PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d)
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: Subsystem(name) {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this);
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AddChild("PIDController", m_controller);
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}
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PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d,
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double f)
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: Subsystem(name) {
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m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
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AddChild("PIDController", m_controller);
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}
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PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d,
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double f, double period)
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: Subsystem(name) {
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m_controller =
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std::make_shared<PIDController>(p, i, d, f, this, this, period);
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AddChild("PIDController", m_controller);
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}
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PIDSubsystem::PIDSubsystem(double p, double i, double d)
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: Subsystem("PIDSubsystem") {
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m_controller = std::make_shared<PIDController>(p, i, d, this, this);
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AddChild("PIDController", m_controller);
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}
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PIDSubsystem::PIDSubsystem(double p, double i, double d, double f)
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: Subsystem("PIDSubsystem") {
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m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
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AddChild("PIDController", m_controller);
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}
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PIDSubsystem::PIDSubsystem(double p, double i, double d, double f,
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double period)
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: Subsystem("PIDSubsystem") {
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m_controller =
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std::make_shared<PIDController>(p, i, d, f, this, this, period);
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AddChild("PIDController", m_controller);
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}
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void PIDSubsystem::Enable() { m_controller->Enable(); }
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void PIDSubsystem::Disable() { m_controller->Disable(); }
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void PIDSubsystem::PIDWrite(double output) { UsePIDOutput(output); }
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double PIDSubsystem::PIDGet() { return ReturnPIDInput(); }
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void PIDSubsystem::SetSetpoint(double setpoint) {
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m_controller->SetSetpoint(setpoint);
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}
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void PIDSubsystem::SetSetpointRelative(double deltaSetpoint) {
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SetSetpoint(GetSetpoint() + deltaSetpoint);
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}
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void PIDSubsystem::SetInputRange(double minimumInput, double maximumInput) {
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m_controller->SetInputRange(minimumInput, maximumInput);
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}
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void PIDSubsystem::SetOutputRange(double minimumOutput, double maximumOutput) {
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m_controller->SetOutputRange(minimumOutput, maximumOutput);
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}
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double PIDSubsystem::GetSetpoint() { return m_controller->GetSetpoint(); }
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double PIDSubsystem::GetPosition() { return ReturnPIDInput(); }
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double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
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void PIDSubsystem::SetAbsoluteTolerance(double absValue) {
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m_controller->SetAbsoluteTolerance(absValue);
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}
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void PIDSubsystem::SetPercentTolerance(double percent) {
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m_controller->SetPercentTolerance(percent);
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}
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bool PIDSubsystem::OnTarget() const { return m_controller->OnTarget(); }
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std::shared_ptr<PIDController> PIDSubsystem::GetPIDController() {
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return m_controller;
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}
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