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29 lines
742 B
C++
29 lines
742 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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#include "frc/Encoder.h"
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#include "frc/PIDSource.h"
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namespace frc {
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/**
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* Wrapper so that PIDSource is implemented for Encoder for old PIDController
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*/
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class PIDEncoder : public PIDSource, public Encoder {
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using Encoder::Encoder;
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public:
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/**
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* Get the PIDOutput for the PIDSource base object. Can be set to return
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* distance or rate using SetPIDSourceType(). Defaults to distance.
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*
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* @return The PIDOutput (distance or rate, defaults to distance)
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*/
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double PIDGet() override;
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};
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} // namespace frc
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