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f65e697107
I'm not 100% sure whether we want these, but they are a quick find and replace to do. Basically, there are two primary things that we have done this summer that break existing user code: -Changing GetInstance() calls to return references instead of pointers. This forces users to change from doing something like LiveWindow::GetInstance()->AddSensor() to LiveWindow::GetInstance().AddSensor(). -Making PIDGet() and related calls const, forcing users to change the function signatures wherever they override them. The GetInstance() calls don't really matter to me either way, especially since there are no real ownership issues going on there, unlike the rest of the smart pointer-related changes. For the const stuff, it is certainly more correct to mandate that user PIDGet() functions be const and the such, but at the same time, I'm not sure that there is any strong need for it, and the errors generated are not the most helpful. While this wouldn't necessarily be an issue for more experienced teams or completely new teams (who don't have any old code to be reusing), it may cause issues for more average teams who aren't familiar with the intricacies of C++ anything. Change-Id: I6e7007982069292ea70e6d0fc8ca40203340df1b
33 lines
823 B
C++
33 lines
823 B
C++
#include "$classname.h"
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#include "../RobotMap.h"
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#include "SmartDashboard/SmartDashboard.h"
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#include "LiveWindow/LiveWindow.h"
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$classname::$classname() :
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PIDSubsystem("$classname", 1.0, 0.0, 0.0)
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{
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// Use these to get going:
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// SetSetpoint() - Sets where the PID controller should move the system
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// to
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// Enable() - Enables the PID controller.
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}
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double $classname::ReturnPIDInput()
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{
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// Return your input value for the PID loop
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// e.g. a sensor, like a potentiometer:
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// yourPot->SetAverageVoltage() / kYourMaxVoltage;
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}
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void $classname::UsePIDOutput(double output)
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{
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// Use output to drive your system, like a motor
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// e.g. yourMotor->Set(output);
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}
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void $classname::InitDefaultCommand()
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{
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// Set the default command for a subsystem here.
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//setDefaultCommand(new MySpecialCommand());
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}
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