| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2008-2017. 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 | namespace frc { |
| 11 | |
| 12 | enum class PIDSourceType { kDisplacement, kRate }; |
| 13 | |
| 14 | /** |
| 15 | * PIDSource interface is a generic sensor source for the PID class. |
| 16 | * All sensors that can be used with the PID class will implement the PIDSource |
| 17 | * that returns a standard value that will be used in the PID code. |
| 18 | */ |
| 19 | class PIDSource { |
| 20 | public: |
| 21 | virtual void SetPIDSourceType(PIDSourceType pidSource); |
| 22 | PIDSourceType GetPIDSourceType() const; |
| 23 | virtual double PIDGet() = 0; |
| 24 | |
| 25 | protected: |
| 26 | PIDSourceType m_pidSource = PIDSourceType::kDisplacement; |
| 27 | }; |
| 28 | |
| 29 | } // namespace frc |