| /*----------------------------------------------------------------------------*/ |
| /* Copyright (c) FIRST 2016-2017. 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 "Base.h" |
| #include "Controller.h" |
| #include "LiveWindow/LiveWindow.h" |
| |
| namespace frc { |
| |
| 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(double setpoint) = 0; |
| virtual double GetSetpoint() const = 0; |
| |
| virtual void Enable() = 0; |
| virtual void Disable() = 0; |
| virtual bool IsEnabled() const = 0; |
| |
| virtual void Reset() = 0; |
| }; |
| |
| } // namespace frc |