mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
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
59 lines
1.8 KiB
C++
59 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2011. All Rights Reserved.
|
|
*/
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#ifndef __PID_COMMAND_H__
|
|
#define __PID_COMMAND_H__
|
|
|
|
#include "Commands/Command.h"
|
|
#include "PIDController.h"
|
|
#include "PIDSource.h"
|
|
#include "PIDOutput.h"
|
|
|
|
#include <memory>
|
|
|
|
class PIDCommand : public Command, public PIDOutput, public PIDSource {
|
|
public:
|
|
PIDCommand(const std::string &name, double p, double i, double d);
|
|
PIDCommand(const std::string &name, double p, double i, double d, double period);
|
|
PIDCommand(const std::string &name, double p, double i, double d, double f,
|
|
double perioid);
|
|
PIDCommand(double p, double i, double d);
|
|
PIDCommand(double p, double i, double d, double period);
|
|
PIDCommand(double p, double i, double d, double f, double period);
|
|
virtual ~PIDCommand() = default;
|
|
|
|
void SetSetpointRelative(double deltaSetpoint);
|
|
|
|
// PIDOutput interface
|
|
virtual void PIDWrite(float output);
|
|
|
|
// PIDSource interface
|
|
virtual double PIDGet() const;
|
|
|
|
protected:
|
|
std::shared_ptr<PIDController> GetPIDController() const;
|
|
virtual void _Initialize();
|
|
virtual void _Interrupted();
|
|
virtual void _End();
|
|
void SetSetpoint(double setpoint);
|
|
double GetSetpoint() const;
|
|
double GetPosition() const;
|
|
|
|
virtual double ReturnPIDInput() const = 0;
|
|
virtual void UsePIDOutput(double output) = 0;
|
|
|
|
private:
|
|
/** The internal {@link PIDController} */
|
|
std::shared_ptr<PIDController> m_controller;
|
|
|
|
public:
|
|
virtual void InitTable(std::shared_ptr<ITable> table);
|
|
virtual std::string GetSmartDashboardType() const;
|
|
};
|
|
|
|
#endif
|