| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2016-2017. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #pragma once |
| 9 | |
| 10 | #include "Base.h" |
| 11 | #include "Controller.h" |
| 12 | #include "LiveWindow/LiveWindow.h" |
| 13 | |
| 14 | namespace frc { |
| 15 | |
| 16 | class PIDInterface : public Controller { |
| 17 | virtual void SetPID(double p, double i, double d) = 0; |
| 18 | virtual double GetP() const = 0; |
| 19 | virtual double GetI() const = 0; |
| 20 | virtual double GetD() const = 0; |
| 21 | |
| 22 | virtual void SetSetpoint(double setpoint) = 0; |
| 23 | virtual double GetSetpoint() const = 0; |
| 24 | |
| 25 | virtual void Enable() = 0; |
| 26 | virtual void Disable() = 0; |
| 27 | virtual bool IsEnabled() const = 0; |
| 28 | |
| 29 | virtual void Reset() = 0; |
| 30 | }; |
| 31 | |
| 32 | } // namespace frc |