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https://github.com/wpilibsuite/allwpilib
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630fc55bde
SynchronousPID provides a Calculate() function for teams to call themselves instead of running the controller with a Notifier.
67 lines
2.2 KiB
C++
67 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 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 <wpi/deprecated.h>
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#include <wpi/mutex.h>
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#include "Base.h"
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#include "Controller.h"
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#include "Filters/LinearDigitalFilter.h"
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#include "Notifier.h"
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#include "PIDBase.h"
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#include "PIDSource.h"
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#include "Timer.h"
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namespace frc {
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class PIDOutput;
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/**
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* Class implements a PID Control Loop.
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*
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* Creates a separate thread which reads the given PIDSource and takes care of
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* the integral calculations, as well as writing the given PIDOutput.
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*
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* This feedback controller runs in discrete time, so time deltas are not used
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* in the integral and derivative calculations. Therefore, the sample rate
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* affects the controller's behavior for a given set of PID constants.
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*/
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class PIDController : public PIDBase, public Controller {
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public:
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PIDController(double p, double i, double d, PIDSource* source,
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PIDOutput* output, double period = 0.05);
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PIDController(double p, double i, double d, double f, PIDSource* source,
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PIDOutput* output, double period = 0.05);
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PIDController(double p, double i, double d, PIDSource& source,
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PIDOutput& output, double period = 0.05);
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PIDController(double p, double i, double d, double f, PIDSource& source,
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PIDOutput& output, double period = 0.05);
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~PIDController() override;
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PIDController(const PIDController&) = delete;
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PIDController& operator=(const PIDController) = delete;
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void Enable() override;
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void Disable() override;
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void SetEnabled(bool enable);
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bool IsEnabled() const;
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void Reset() override;
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void InitSendable(SendableBuilder& builder) override;
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private:
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std::unique_ptr<Notifier> m_controlLoop;
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};
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} // namespace frc
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