mirror of
https://github.com/wpilibsuite/allwpilib
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e1195e8b9d
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
62 lines
1.9 KiB
C++
62 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011-2017. 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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#pragma once
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#include <memory>
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#include <string>
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#include "Commands/Command.h"
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#include "PIDController.h"
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#include "PIDOutput.h"
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#include "PIDSource.h"
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namespace frc {
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class PIDCommand : public Command, public PIDOutput, public PIDSource {
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public:
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PIDCommand(const std::string& name, double p, double i, double d);
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PIDCommand(const std::string& name, double p, double i, double d,
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double period);
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PIDCommand(const std::string& name, double p, double i, double d, double f,
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double period);
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PIDCommand(double p, double i, double d);
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PIDCommand(double p, double i, double d, double period);
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PIDCommand(double p, double i, double d, double f, double period);
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virtual ~PIDCommand() = default;
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void SetSetpointRelative(double deltaSetpoint);
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// PIDOutput interface
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virtual void PIDWrite(double output);
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// PIDSource interface
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virtual double PIDGet();
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protected:
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std::shared_ptr<PIDController> GetPIDController() const;
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virtual void _Initialize();
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virtual void _Interrupted();
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virtual void _End();
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void SetSetpoint(double setpoint);
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double GetSetpoint() const;
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double GetPosition();
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virtual double ReturnPIDInput() = 0;
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virtual void UsePIDOutput(double output) = 0;
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private:
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/** The internal {@link PIDController} */
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std::shared_ptr<PIDController> m_controller;
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public:
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void InitTable(std::shared_ptr<ITable> subtable) override;
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std::string GetSmartDashboardType() const override;
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};
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} // namespace frc
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