mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
38 lines
1.2 KiB
C++
38 lines
1.2 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2016-2020 FIRST. 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 <wpi/deprecated.h>
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Interface for PID Control Loop.
|
|
*
|
|
* @deprecated All APIs which use this have been deprecated.
|
|
*/
|
|
class PIDInterface {
|
|
public:
|
|
WPI_DEPRECATED("All APIs which use this have been deprecated.")
|
|
PIDInterface() = default;
|
|
PIDInterface(PIDInterface&&) = default;
|
|
PIDInterface& operator=(PIDInterface&&) = default;
|
|
|
|
virtual void SetPID(double p, double i, double d) = 0;
|
|
virtual double GetP() const = 0;
|
|
virtual double GetI() const = 0;
|
|
virtual double GetD() const = 0;
|
|
|
|
virtual void SetSetpoint(double setpoint) = 0;
|
|
virtual double GetSetpoint() const = 0;
|
|
|
|
virtual void Reset() = 0;
|
|
};
|
|
|
|
} // namespace frc
|