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https://github.com/wpilibsuite/allwpilib
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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
45 lines
1.4 KiB
C++
45 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 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 "frc/ErrorBase.h"
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#include "frc/PIDSource.h"
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#include "frc/interfaces/Gyro.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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/**
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* GyroBase is the common base class for Gyro implementations such as
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* AnalogGyro.
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*/
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class GyroBase : public Gyro,
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public ErrorBase,
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public PIDSource,
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public Sendable,
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public SendableHelper<GyroBase> {
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public:
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GyroBase() = default;
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GyroBase(GyroBase&&) = default;
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GyroBase& operator=(GyroBase&&) = default;
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// PIDSource interface
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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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* angle or rate using SetPIDSourceType(). Defaults to angle.
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*
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* @return The PIDOutput (angle or rate, defaults to angle)
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*/
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double PIDGet() override;
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void InitSendable(SendableBuilder& builder) override;
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};
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} // namespace frc
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