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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
138 lines
4.7 KiB
C++
138 lines
4.7 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 "frc/Base.h"
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#include "frc/Controller.h"
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#include "frc/Notifier.h"
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#include "frc/PIDBase.h"
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#include "frc/PIDSource.h"
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#include "frc/Timer.h"
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#include "frc/filters/LinearDigitalFilter.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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/**
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* Allocate a PID object with the given constants for P, I, D.
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*
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* @param Kp the proportional coefficient
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* @param Ki the integral coefficient
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* @param Kd the derivative coefficient
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* @param source The PIDSource object that is used to get values
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* @param output The PIDOutput object that is set to the output value
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* @param period the loop time for doing calculations. This particularly
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* effects calculations of the integral and differental terms.
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* The default is 50ms.
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*/
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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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/**
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* Allocate a PID object with the given constants for P, I, D.
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*
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* @param Kp the proportional coefficient
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* @param Ki the integral coefficient
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* @param Kd the derivative coefficient
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* @param source The PIDSource object that is used to get values
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* @param output The PIDOutput object that is set to the output value
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* @param period the loop time for doing calculations. This particularly
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* effects calculations of the integral and differental terms.
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* The default is 50ms.
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*/
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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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/**
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* Allocate a PID object with the given constants for P, I, D.
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*
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* @param Kp the proportional coefficient
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* @param Ki the integral coefficient
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* @param Kd the derivative coefficient
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* @param source The PIDSource object that is used to get values
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* @param output The PIDOutput object that is set to the output value
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* @param period the loop time for doing calculations. This particularly
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* effects calculations of the integral and differental terms.
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* The default is 50ms.
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*/
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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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/**
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* Allocate a PID object with the given constants for P, I, D.
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*
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* @param Kp the proportional coefficient
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* @param Ki the integral coefficient
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* @param Kd the derivative coefficient
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* @param source The PIDSource object that is used to get values
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* @param output The PIDOutput object that is set to the output value
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* @param period the loop time for doing calculations. This particularly
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* effects calculations of the integral and differental terms.
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* The default is 50ms.
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*/
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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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/**
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* Begin running the PIDController.
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*/
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void Enable() override;
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/**
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* Stop running the PIDController, this sets the output to zero before
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* stopping.
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*/
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void Disable() override;
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/**
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* Set the enabled state of the PIDController.
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*/
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void SetEnabled(bool enable);
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/**
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* Return true if PIDController is enabled.
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*/
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bool IsEnabled() const;
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/**
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* Reset the previous error, the integral term, and disable the controller.
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*/
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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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