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/PIDSubsystem.h b/wpilibc/shared/include/Commands/PIDSubsystem.h
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+++ b/wpilibc/shared/include/Commands/PIDSubsystem.h
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+/*----------------------------------------------------------------------------*/
+/* 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/Subsystem.h"
+#include "PIDController.h"
+#include "PIDOutput.h"
+#include "PIDSource.h"
+
+namespace frc {
+
+/**
+ * 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(double output);
+
+ // PIDSource interface
+ virtual double PIDGet();
+ void SetSetpoint(double setpoint);
+ void SetSetpointRelative(double deltaSetpoint);
+ void SetInputRange(double minimumInput, double maximumInput);
+ void SetOutputRange(double minimumOutput, double maximumOutput);
+ double GetSetpoint();
+ double GetPosition();
+ double GetRate();
+
+ virtual void SetAbsoluteTolerance(double absValue);
+ virtual void SetPercentTolerance(double 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:
+ void InitTable(std::shared_ptr<ITable> subtable) override;
+ std::string GetSmartDashboardType() const override;
+};
+
+} // namespace frc