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https://github.com/wpilibsuite/allwpilib
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509819d83f
This will allow us at the user code side to determine to include old commands, new commands or both.
32 lines
986 B
C++
32 lines
986 B
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 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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#include "frc2/command/PIDSubsystem.h"
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using namespace frc2;
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PIDSubsystem::PIDSubsystem(PIDController controller)
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: m_controller{controller} {}
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void PIDSubsystem::Periodic() {
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if (m_enabled) {
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UseOutput(m_controller.Calculate(GetMeasurement(), GetSetpoint()));
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}
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}
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void PIDSubsystem::Enable() {
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m_controller.Reset();
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m_enabled = true;
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}
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void PIDSubsystem::Disable() {
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UseOutput(0);
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m_enabled = false;
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}
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PIDController& PIDSubsystem::GetController() { return m_controller; }
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