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

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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;
};