mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2017 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 "Commands/Command.h"
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#include "PIDController.h"
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#include "PIDOutput.h"
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#include "PIDSource.h"
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namespace frc {
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class PIDCommand : public Command, public PIDOutput, public PIDSource {
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public:
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PIDCommand(const std::string& name, double p, double i, double d);
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PIDCommand(const std::string& name, double p, double i, double d,
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double period);
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PIDCommand(const std::string& name, double p, double i, double d, double f,
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double period);
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PIDCommand(double p, double i, double d);
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PIDCommand(double p, double i, double d, double period);
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PIDCommand(double p, double i, double d, double f, double period);
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virtual ~PIDCommand() = default;
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void SetSetpointRelative(double deltaSetpoint);
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// PIDOutput interface
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void PIDWrite(double output) override;
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// PIDSource interface
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double PIDGet() override;
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protected:
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std::shared_ptr<PIDController> GetPIDController() const;
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void _Initialize() override;
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void _Interrupted() override;
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void _End() override;
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void SetSetpoint(double setpoint);
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double GetSetpoint() const;
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double GetPosition();
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virtual double ReturnPIDInput() = 0;
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virtual void UsePIDOutput(double output) = 0;
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private:
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// The internal PIDController
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std::shared_ptr<PIDController> m_controller;
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public:
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void InitSendable(SendableBuilder& builder) override;
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};
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} // namespace frc
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