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FRC2016-old/wpilib/cpp/current/include/Commands/PIDSubsystem.h
2016-01-28 11:33:19 -05:00

77 lines
2.6 KiB
C++

/*----------------------------------------------------------------------------*/
/* 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_SUBSYSTEM_H__
#define __PID_SUBSYSTEM_H__
#include "Commands/Subsystem.h"
#include "PIDController.h"
#include "PIDSource.h"
#include "PIDOutput.h"
#include <memory>
/**
* This class is designed to handle the case where there is a {@link Subsystem}
* which uses a single {@link PIDController} almost constantly (for instance,
* an elevator which attempts to stay at a constant height).
*
* <p>It provides some convenience methods to run an internal {@link
* PIDController}.
* It also allows access to the internal {@link PIDController} in order to give
* total control
* to the programmer.</p>
*
*/
class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
public:
PIDSubsystem(const std::string &name, double p, double i, double d);
PIDSubsystem(const std::string &name, double p, double i, double d, double f);
PIDSubsystem(const std::string &name, double p, double i, double d, double f,
double period);
PIDSubsystem(double p, double i, double d);
PIDSubsystem(double p, double i, double d, double f);
PIDSubsystem(double p, double i, double d, double f, double period);
virtual ~PIDSubsystem() = default;
void Enable();
void Disable();
// PIDOutput interface
virtual void PIDWrite(float output);
// PIDSource interface
virtual double PIDGet();
void SetSetpoint(double setpoint);
void SetSetpointRelative(double deltaSetpoint);
void SetInputRange(float minimumInput, float maximumInput);
void SetOutputRange(float minimumOutput, float maximumOutput);
double GetSetpoint();
double GetPosition();
double GetRate();
virtual void SetAbsoluteTolerance(float absValue);
virtual void SetPercentTolerance(float percent);
virtual bool OnTarget() const;
protected:
std::shared_ptr<PIDController> GetPIDController();
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