29 lines
1003 B
C++
29 lines
1003 B
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 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 "Base.h"
|
|
#include "Controller.h"
|
|
#include "LiveWindow/LiveWindow.h"
|
|
|
|
class PIDInterface : public Controller {
|
|
virtual void SetPID(double p, double i, double d) = 0;
|
|
virtual double GetP() const = 0;
|
|
virtual double GetI() const = 0;
|
|
virtual double GetD() const = 0;
|
|
|
|
virtual void SetSetpoint(float setpoint) = 0;
|
|
virtual double GetSetpoint() const = 0;
|
|
|
|
virtual void Enable() = 0;
|
|
virtual void Disable() = 0;
|
|
virtual bool IsEnabled() const = 0;
|
|
|
|
virtual void Reset() = 0;
|
|
};
|