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FRC2016-old/wpilib/cpp/current/include/Commands/PIDCommand.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#ifndef __PID_COMMAND_H__
#define __PID_COMMAND_H__
#include "Commands/Command.h"
#include "PIDController.h"
#include "PIDSource.h"
#include "PIDOutput.h"
#include <memory>
class PIDCommand : public Command, public PIDOutput, public PIDSource {
public:
PIDCommand(const std::string &name, double p, double i, double d);
PIDCommand(const std::string &name, double p, double i, double d, double period);
PIDCommand(const std::string &name, double p, double i, double d, double f,
double period);
PIDCommand(double p, double i, double d);
PIDCommand(double p, double i, double d, double period);
PIDCommand(double p, double i, double d, double f, double period);
virtual ~PIDCommand() = default;
void SetSetpointRelative(double deltaSetpoint);
// PIDOutput interface
virtual void PIDWrite(float output);
// PIDSource interface
virtual double PIDGet();
protected:
std::shared_ptr<PIDController> GetPIDController() const;
virtual void _Initialize();
virtual void _Interrupted();
virtual void _End();
void SetSetpoint(double setpoint);
double GetSetpoint() const;
double GetPosition();
virtual double ReturnPIDInput() = 0;
virtual void UsePIDOutput(double output) = 0;
private:
/** The internal {@link PIDController} */
std::shared_ptr<PIDController> m_controller;
public:
virtual void InitTable(std::shared_ptr<ITable> table);
virtual std::string GetSmartDashboardType() const;
};
#endif