This repository has been archived on 2020-09-21. You can view files and clone it, but cannot push or open issues or pull requests.
FRC2016-old/wpilib/cpp/current/include/PIDSource.h

27 lines
1015 B
C
Raw Normal View History

2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
enum class PIDSourceType { kDisplacement, kRate };
/**
* PIDSource interface is a generic sensor source for the PID class.
* All sensors that can be used with the PID class will implement the PIDSource
* that
* returns a standard value that will be used in the PID code.
*/
class PIDSource {
public:
virtual void SetPIDSourceType(PIDSourceType pidSource);
PIDSourceType GetPIDSourceType() const;
virtual double PIDGet() = 0;
protected:
PIDSourceType m_pidSource = PIDSourceType::kDisplacement;
};