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https://github.com/wpilibsuite/allwpilib
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76 lines
2.5 KiB
C++
76 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2017 FIRST. 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/Subsystem.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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/**
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* This class is designed to handle the case where there is a Subsystem which
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* uses a single PIDController almost constantly (for instance, an elevator
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* which attempts to stay at a constant height).
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*
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* It provides some convenience methods to run an internal PIDController. It
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* also allows access to the internal PIDController in order to give total
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* control to the programmer.
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*/
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class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
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public:
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PIDSubsystem(const std::string& name, double p, double i, double d);
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PIDSubsystem(const std::string& name, double p, double i, double d, double f);
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PIDSubsystem(const std::string& name, double p, double i, double d, double f,
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double period);
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PIDSubsystem(double p, double i, double d);
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PIDSubsystem(double p, double i, double d, double f);
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PIDSubsystem(double p, double i, double d, double f, double period);
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virtual ~PIDSubsystem() = default;
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void Enable();
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void Disable();
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// PIDOutput interface
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void PIDWrite(double output) override;
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// PIDSource interface
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double PIDGet() override;
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void SetSetpoint(double setpoint);
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void SetSetpointRelative(double deltaSetpoint);
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void SetInputRange(double minimumInput, double maximumInput);
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void SetOutputRange(double minimumOutput, double maximumOutput);
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double GetSetpoint();
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double GetPosition();
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double GetRate();
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virtual void SetAbsoluteTolerance(double absValue);
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virtual void SetPercentTolerance(double percent);
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virtual bool OnTarget() const;
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protected:
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std::shared_ptr<PIDController> GetPIDController();
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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 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<nt::NetworkTable> 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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