mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
107 lines
2.3 KiB
C++
107 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "Commands/PIDCommand.h"
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#include "PIDController.h"
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#include "float.h"
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PIDCommand::PIDCommand(const char *name, double p, double i, double d, double f, double period) :
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Command(name)
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{
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m_controller = new PIDController(p, i, d, this, this, period);
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}
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PIDCommand::PIDCommand(double p, double i, double d, double f, double period)
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{
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m_controller = new PIDController(p, i, d, f, this, this, period);
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}
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PIDCommand::PIDCommand(const char *name, double p, double i, double d) :
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Command(name)
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{
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m_controller = new PIDController(p, i, d, this, this);
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}
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PIDCommand::PIDCommand(const char *name, double p, double i, double d, double period) :
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Command(name)
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{
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m_controller = new PIDController(p, i, d, this, this, period);
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}
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PIDCommand::PIDCommand(double p, double i, double d)
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{
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m_controller = new PIDController(p, i, d, this, this);
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}
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PIDCommand::PIDCommand(double p, double i, double d, double period)
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{
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m_controller = new PIDController(p, i, d, this, this, period);
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}
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PIDCommand::~PIDCommand()
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{
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delete m_controller;
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}
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void PIDCommand::_Initialize()
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{
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m_controller->Enable();
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}
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void PIDCommand::_End()
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{
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m_controller->Disable();
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}
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void PIDCommand::_Interrupted()
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{
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_End();
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}
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void PIDCommand::SetSetpointRelative(double deltaSetpoint)
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{
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SetSetpoint(GetSetpoint() + deltaSetpoint);
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}
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void PIDCommand::PIDWrite(float output)
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{
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UsePIDOutput(output);
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}
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double PIDCommand::PIDGet()
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{
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return ReturnPIDInput();
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}
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PIDController *PIDCommand::GetPIDController()
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{
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return m_controller;
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}
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void PIDCommand::SetSetpoint(double setpoint)
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{
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m_controller->SetSetpoint(setpoint);
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}
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double PIDCommand::GetSetpoint()
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{
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return m_controller->GetSetpoint();
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}
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double PIDCommand::GetPosition()
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{
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return ReturnPIDInput();
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}
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std::string PIDCommand::GetSmartDashboardType(){
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return "PIDCommand";
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}
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void PIDCommand::InitTable(ITable* table){
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m_controller->InitTable(table);
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Command::InitTable(table);
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}
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