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https://github.com/wpilibsuite/allwpilib
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90 lines
2.8 KiB
C++
90 lines
2.8 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include <frc/controller/PIDController.h>
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#include "frc2/command/Command.h"
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#include "frc2/command/CommandHelper.h"
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#include "frc2/command/Requirements.h"
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namespace frc2 {
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/**
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* A command that controls an output with a PIDController. Runs forever by
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* default - to add exit conditions and/or other behavior, subclass this class.
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* The controller calculation and output are performed synchronously in the
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* command's execute() method.
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*
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* This class is provided by the NewCommands VendorDep
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*
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* @see PIDController
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*/
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class PIDCommand : public CommandHelper<Command, PIDCommand> {
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public:
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* PIDController.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param setpointSource the controller's reference (aka setpoint)
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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*/
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PIDCommand(frc::PIDController controller,
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std::function<double()> measurementSource,
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std::function<double()> setpointSource,
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std::function<void(double)> useOutput,
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Requirements requirements = {});
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* PIDController with a constant setpoint.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param setpoint the controller's setpoint (aka setpoint)
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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*/
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PIDCommand(frc::PIDController controller,
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std::function<double()> measurementSource, double setpoint,
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std::function<void(double)> useOutput,
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Requirements requirements = {});
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PIDCommand(PIDCommand&& other) = default;
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PIDCommand(const PIDCommand& other) = default;
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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/**
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* Returns the PIDController used by the command.
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*
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* @return The PIDController
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*/
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frc::PIDController& GetController();
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protected:
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/// PID controller.
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frc::PIDController m_controller;
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/// Measurement getter.
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std::function<double()> m_measurement;
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/// Setpoint getter.
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std::function<double()> m_setpoint;
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/// PID controller output consumer.
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std::function<void(double)> m_useOutput;
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};
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} // namespace frc2
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