Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/shared/include/Commands/PIDCommand.h b/wpilibc/shared/include/Commands/PIDCommand.h
new file mode 100644
index 0000000..4cc426e
--- /dev/null
+++ b/wpilibc/shared/include/Commands/PIDCommand.h
@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 <memory>
+#include <string>
+
+#include "Commands/Command.h"
+#include "PIDController.h"
+#include "PIDOutput.h"
+#include "PIDSource.h"
+
+namespace frc {
+
+class PIDCommand : public Command, public PIDOutput, public PIDSource {
+ public:
+ PIDCommand(const std::string& name, double p, double i, double d);
+ PIDCommand(const std::string& name, double p, double i, double d,
+ double period);
+ PIDCommand(const std::string& name, double p, double i, double d, double f,
+ double period);
+ PIDCommand(double p, double i, double d);
+ PIDCommand(double p, double i, double d, double period);
+ PIDCommand(double p, double i, double d, double f, double period);
+ virtual ~PIDCommand() = default;
+
+ void SetSetpointRelative(double deltaSetpoint);
+
+ // PIDOutput interface
+ virtual void PIDWrite(double output);
+
+ // PIDSource interface
+ virtual double PIDGet();
+
+ protected:
+ std::shared_ptr<PIDController> GetPIDController() const;
+ virtual void _Initialize();
+ virtual void _Interrupted();
+ virtual void _End();
+ void SetSetpoint(double setpoint);
+ double GetSetpoint() const;
+ double GetPosition();
+
+ virtual double ReturnPIDInput() = 0;
+ virtual void UsePIDOutput(double output) = 0;
+
+ private:
+ /** The internal {@link PIDController} */
+ std::shared_ptr<PIDController> m_controller;
+
+ public:
+ void InitTable(std::shared_ptr<ITable> subtable) override;
+ std::string GetSmartDashboardType() const override;
+};
+
+} // namespace frc