mirror of
https://github.com/wpilibsuite/allwpilib
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e6f5c93ab1
- Remove use of std::set. The only place std::set was actually used was in ParallelRaceGroup, but this was of minimal utility as ParallelRaceGroup checked for duplicate subsystem requirements, so it would be very unusual to end up with duplicate commands in any case; replaced it with a vector. - Remove use of std::unordered_map except for SelectCommand. Replaced with vector. - Use pImpl idiom for CommandScheduler - Minimize include files (remove unnecessary ones) - Reformat include file order for consistency
75 lines
1.9 KiB
C++
75 lines
1.9 KiB
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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#pragma once
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#include <frc/controller/PIDController.h>
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#include "frc2/command/SubsystemBase.h"
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namespace frc2 {
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/**
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* A subsystem that uses a PIDController to control an output. The controller
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* is run synchronously from the subsystem's periodic() method.
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*
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* @see PIDController
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*/
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class PIDSubsystem : public SubsystemBase {
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public:
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/**
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* Creates a new PIDSubsystem.
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*
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* @param controller the PIDController to use
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*/
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explicit PIDSubsystem(PIDController controller);
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void Periodic() override;
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/**
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* Uses the output from the PIDController.
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*
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* @param output the output of the PIDController
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*/
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virtual void UseOutput(double output) = 0;
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/**
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* Returns the reference (setpoint) used by the PIDController.
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*
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* @return the reference (setpoint) to be used by the controller
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*/
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virtual double GetSetpoint() = 0;
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/**
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* Returns the measurement of the process variable used by the PIDController.
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*
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* @return the measurement of the process variable
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*/
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virtual double GetMeasurement() = 0;
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/**
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* Enables the PID control. Resets the controller.
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*/
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virtual void Enable();
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/**
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* Disables the PID control. Sets output to zero.
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*/
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virtual void Disable();
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/**
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* Returns the PIDController.
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*
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* @return The controller.
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*/
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PIDController& GetController();
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protected:
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PIDController m_controller;
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bool m_enabled;
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};
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} // namespace frc2
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