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e017f93f16
Also added some references/smart pointers to a couple places that seemed convenient to the user. I haven't updated the constructors for RobotDrive() related examples, pending the results of gerrit change https://usfirst.collab.net/gerrit/#/c/960/ A few things that we are noticing: --It might be nice if ReturnPIDInput() didn't have to be const; when people try to override it, they have to remember to put the const in and if they don't, then the compiler error isn't the most obvious (especially since this is a change). This would also apply to PIDGet() in the PIDSource interface. --SendableChooser still takes raw pointers. This could lead to an issue I had to debug briefly where you accidentally call GetSelected() on autoChooser and put the resulting raw pointer into a unique_ptr, which destroys the pointer when it goes out of scope. Specifically, I was testing the PacGoat example and I ended up with a situation where if auto mode was run once, it was fine, but if it was run twice, the selected command would have been destroyed by the unique_ptr. I believe that this just requires updating SendableChosser to take shared_ptr. --When the samples are compiled with -pedantic, it points out that START_ROBOT_CLASS macro expansion results in a redundant semicolon. Change-Id: Ib4c025a61263d0d2780d4253faa31713e15333a5
38 lines
831 B
C++
38 lines
831 B
C++
#ifndef SetDistanceToBox_H
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#define SetDistanceToBox_H
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#include "WPILib.h"
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#include "Commands/Command.h"
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/**
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* Drive until the robot is the given distance away from the box. Uses a local
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* PID controller to run a simple PID loop that is only enabled while this
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* command is running. The input is the averaged values of the left and right
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* encoders.
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*/
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class SetDistanceToBox: public Command {
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public:
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SetDistanceToBox(double distance);
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void Initialize();
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void Execute();
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bool IsFinished();
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void End();
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void Interrupted();
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private:
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PIDController* pid;
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};
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class SetDistanceToBoxPIDSource: public PIDSource {
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public:
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virtual ~SetDistanceToBoxPIDSource();
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double PIDGet() const;
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};
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class SetDistanceToBoxPIDOutput: public PIDOutput {
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public:
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virtual ~SetDistanceToBoxPIDOutput();
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void PIDWrite(float d);
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};
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#endif
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