Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/shared/include/PIDController.h b/wpilibc/shared/include/PIDController.h
new file mode 100644
index 0000000..301356c
--- /dev/null
+++ b/wpilibc/shared/include/PIDController.h
@@ -0,0 +1,132 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "Base.h"
+#include "Controller.h"
+#include "LiveWindow/LiveWindow.h"
+#include "PIDInterface.h"
+#include "PIDSource.h"
+#include "Notifier.h"
+#include "HAL/cpp/priority_mutex.h"
+
+#include <memory>
+
+#include <atomic>
+#include <queue>
+
+class PIDOutput;
+
+/**
+ * Class implements a PID Control Loop.
+ *
+ * Creates a separate thread which reads the given PIDSource and takes
+ * care of the integral calculations, as well as writing the given
+ * PIDOutput
+ */
+class PIDController : public LiveWindowSendable,
+ public PIDInterface,
+ public ITableListener {
+ public:
+ PIDController(float p, float i, float d, PIDSource *source, PIDOutput *output,
+ float period = 0.05);
+ PIDController(float p, float i, float d, float f, PIDSource *source,
+ PIDOutput *output, float period = 0.05);
+ virtual ~PIDController();
+
+ PIDController(const PIDController&) = delete;
+ PIDController& operator=(const PIDController) = delete;
+
+ virtual float Get() const;
+ virtual void SetContinuous(bool continuous = true);
+ virtual void SetInputRange(float minimumInput, float maximumInput);
+ virtual void SetOutputRange(float minimumOutput, float maximumOutput);
+ virtual void SetPID(double p, double i, double d) override;
+ virtual void SetPID(double p, double i, double d, double f);
+ virtual double GetP() const override;
+ virtual double GetI() const override;
+ virtual double GetD() const override;
+ virtual double GetF() const;
+
+ virtual void SetSetpoint(float setpoint) override;
+ virtual double GetSetpoint() const override;
+
+ virtual float GetError() const;
+ virtual float GetAvgError() const;
+
+ virtual void SetPIDSourceType(PIDSourceType pidSource);
+ virtual PIDSourceType GetPIDSourceType() const;
+
+ virtual void SetTolerance(float percent);
+ virtual void SetAbsoluteTolerance(float absValue);
+ virtual void SetPercentTolerance(float percentValue);
+ virtual void SetToleranceBuffer(unsigned buf = 1);
+ virtual bool OnTarget() const;
+
+ virtual void Enable() override;
+ virtual void Disable() override;
+ virtual bool IsEnabled() const override;
+
+ virtual void Reset() override;
+
+ virtual void InitTable(std::shared_ptr<ITable> table) override;
+
+ protected:
+ PIDSource *m_pidInput;
+ PIDOutput *m_pidOutput;
+
+ std::shared_ptr<ITable> m_table;
+ virtual void Calculate();
+
+ private:
+ float m_P; // factor for "proportional" control
+ float m_I; // factor for "integral" control
+ float m_D; // factor for "derivative" control
+ float m_F; // factor for "feed forward" control
+ float m_maximumOutput = 1.0; // |maximum output|
+ float m_minimumOutput = -1.0; // |minimum output|
+ float m_maximumInput = 0; // maximum input - limit setpoint to this
+ float m_minimumInput = 0; // minimum input - limit setpoint to this
+ bool m_continuous = false; // do the endpoints wrap around? eg. Absolute encoder
+ bool m_enabled = false; // is the pid controller enabled
+ float m_prevInput = 0; // the prior sensor input (used to compute velocity)
+ double m_totalError = 0; // the sum of the errors for use in the integral calc
+ enum {
+ kAbsoluteTolerance,
+ kPercentTolerance,
+ kNoTolerance
+ } m_toleranceType = kNoTolerance;
+
+ // the percetage or absolute error that is considered on target.
+ float m_tolerance = 0.05;
+ float m_setpoint = 0;
+ float m_error = 0;
+ float m_result = 0;
+ float m_period;
+
+ // Length of buffer for averaging for tolerances.
+ std::atomic<unsigned> m_bufLength{1};
+ std::queue<double> m_buf;
+ double m_bufTotal = 0;
+
+ mutable priority_mutex m_mutex;
+
+ std::unique_ptr<Notifier> m_controlLoop;
+
+ void Initialize(float p, float i, float d, float f, PIDSource *source,
+ PIDOutput *output, float period = 0.05);
+ static void CallCalculate(void *controller);
+
+ virtual std::shared_ptr<ITable> GetTable() const override;
+ virtual std::string GetSmartDashboardType() const override;
+ virtual void ValueChanged(ITable *source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value,
+ bool isNew) override;
+ virtual void UpdateTable() override;
+ virtual void StartLiveWindowMode() override;
+ virtual void StopLiveWindowMode() override;
+};