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25 lines
1008 B
C++
25 lines
1008 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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#include "../../include/frc/controller/BangBangController.h"
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#include <wpi/sendable/SendableBuilder.h>
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using namespace frc;
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void BangBangController::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("BangBangController");
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builder.AddDoubleProperty(
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"tolerance", [this] { return GetTolerance(); },
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[this](double tolerance) { SetTolerance(tolerance); });
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builder.AddDoubleProperty(
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"setpoint", [this] { return GetSetpoint(); },
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[this](double setpoint) { SetSetpoint(setpoint); });
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builder.AddDoubleProperty(
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"measurement", [this] { return GetMeasurement(); }, nullptr);
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builder.AddDoubleProperty("error", [this] { return GetError(); }, nullptr);
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builder.AddBooleanProperty(
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"atSetpoint", [this] { return AtSetpoint(); }, nullptr);
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}
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