mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
42 lines
1.0 KiB
C++
42 lines
1.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include <wpi/deprecated.h>
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Interface for Controllers.
|
|
*
|
|
* Common interface for controllers. Controllers run control loops, the most
|
|
* common are PID controllers and their variants, but this includes anything
|
|
* that is controlling an actuator in a separate thread.
|
|
*
|
|
* @deprecated Only used by the deprecated PIDController
|
|
*/
|
|
class Controller {
|
|
public:
|
|
WPI_DEPRECATED("Only used by the deprecated PIDController")
|
|
Controller() = default;
|
|
virtual ~Controller() = default;
|
|
|
|
Controller(Controller&&) = default;
|
|
Controller& operator=(Controller&&) = default;
|
|
|
|
/**
|
|
* Allows the control loop to run
|
|
*/
|
|
virtual void Enable() = 0;
|
|
|
|
/**
|
|
* Stops the control loop from running until explicitly re-enabled by calling
|
|
* enable()
|
|
*/
|
|
virtual void Disable() = 0;
|
|
};
|
|
|
|
} // namespace frc
|