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FRC2016-old/Robot2016/wpilib/cpp/current/include/GyroBase.h
Jason 6d0e75aa64 Added new Robot project using PWM drive train... Much simpler...
Signed-off-by: Jason <jason@dublinschool.org>
2016-02-09 16:23:45 -05:00

38 lines
1.2 KiB
C++

/*----------------------------------------------------------------------------*/
/* 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
#include "SensorBase.h"
#include "PIDSource.h"
#include "interfaces/Gyro.h"
#include "LiveWindow/LiveWindowSendable.h"
#include <memory>
/**
* GyroBase is the common base class for Gyro implementations such as
* AnalogGyro.
*/
class GyroBase : public Gyro, public SensorBase, public PIDSource, public LiveWindowSendable {
public:
virtual ~GyroBase() = default;
// PIDSource interface
double PIDGet() override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
private:
std::shared_ptr<ITable> m_table;
};