This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/PIDCommand.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/PIDCommand.cpp
new file mode 100644
index 0000000..4287e4c
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Commands/PIDCommand.cpp
@@ -0,0 +1,106 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "Commands/PIDCommand.h"
+
+#include "PIDController.h"
+#include "float.h"
+
+PIDCommand::PIDCommand(const char *name, double p, double i, double d, double f, double period) :
+ Command(name)
+{
+ m_controller = new PIDController(p, i, d, this, this, period);
+}
+
+PIDCommand::PIDCommand(double p, double i, double d, double f, double period)
+{
+ m_controller = new PIDController(p, i, d, f, this, this, period);
+}
+
+PIDCommand::PIDCommand(const char *name, double p, double i, double d) :
+ Command(name)
+{
+ m_controller = new PIDController(p, i, d, this, this);
+}
+
+PIDCommand::PIDCommand(const char *name, double p, double i, double d, double period) :
+ Command(name)
+{
+ m_controller = new PIDController(p, i, d, this, this, period);
+}
+
+PIDCommand::PIDCommand(double p, double i, double d)
+{
+ m_controller = new PIDController(p, i, d, this, this);
+}
+
+PIDCommand::PIDCommand(double p, double i, double d, double period)
+{
+ m_controller = new PIDController(p, i, d, this, this, period);
+}
+
+PIDCommand::~PIDCommand()
+{
+ delete m_controller;
+}
+
+void PIDCommand::_Initialize()
+{
+ m_controller->Enable();
+}
+
+void PIDCommand::_End()
+{
+ m_controller->Disable();
+}
+
+void PIDCommand::_Interrupted()
+{
+ _End();
+}
+
+void PIDCommand::SetSetpointRelative(double deltaSetpoint)
+{
+ SetSetpoint(GetSetpoint() + deltaSetpoint);
+}
+
+void PIDCommand::PIDWrite(float output)
+{
+ UsePIDOutput(output);
+}
+
+double PIDCommand::PIDGet()
+{
+ return ReturnPIDInput();
+}
+
+PIDController *PIDCommand::GetPIDController()
+{
+ return m_controller;
+}
+
+void PIDCommand::SetSetpoint(double setpoint)
+{
+ m_controller->SetSetpoint(setpoint);
+}
+
+double PIDCommand::GetSetpoint()
+{
+ return m_controller->GetSetpoint();
+}
+
+double PIDCommand::GetPosition()
+{
+ return ReturnPIDInput();
+}
+
+std::string PIDCommand::GetSmartDashboardType(){
+ return "PIDCommand";
+}
+void PIDCommand::InitTable(ITable* table){
+ m_controller->InitTable(table);
+ Command::InitTable(table);
+}