WPILibC++  unspecified
 All Classes Files Functions Variables Typedefs Enumerations Enumerator Pages
PIDSubsystem.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2011-2017. 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 <memory>
11 #include <string>
12 
13 #include "Commands/Subsystem.h"
14 #include "PIDController.h"
15 #include "PIDOutput.h"
16 #include "PIDSource.h"
17 
18 namespace frc {
19 
30 class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
31  public:
32  PIDSubsystem(const std::string& name, double p, double i, double d);
33  PIDSubsystem(const std::string& name, double p, double i, double d, double f);
34  PIDSubsystem(const std::string& name, double p, double i, double d, double f,
35  double period);
36  PIDSubsystem(double p, double i, double d);
37  PIDSubsystem(double p, double i, double d, double f);
38  PIDSubsystem(double p, double i, double d, double f, double period);
39  virtual ~PIDSubsystem() = default;
40 
41  void Enable();
42  void Disable();
43 
44  // PIDOutput interface
45  virtual void PIDWrite(double output);
46 
47  // PIDSource interface
48  virtual double PIDGet();
49  void SetSetpoint(double setpoint);
50  void SetSetpointRelative(double deltaSetpoint);
51  void SetInputRange(double minimumInput, double maximumInput);
52  void SetOutputRange(double minimumOutput, double maximumOutput);
53  double GetSetpoint();
54  double GetPosition();
55  double GetRate();
56 
57  virtual void SetAbsoluteTolerance(double absValue);
58  virtual void SetPercentTolerance(double percent);
59  virtual bool OnTarget() const;
60 
61  protected:
62  std::shared_ptr<PIDController> GetPIDController();
63 
64  virtual double ReturnPIDInput() = 0;
65  virtual void UsePIDOutput(double output) = 0;
66 
67  private:
69  std::shared_ptr<PIDController> m_controller;
70 
71  public:
72  void InitTable(std::shared_ptr<ITable> subtable) override;
73  std::string GetSmartDashboardType() const override;
74 };
75 
76 } // namespace frc
void SetSetpoint(double setpoint)
Sets the setpoint to the given value.
Definition: PIDSubsystem.cpp:146
virtual void SetPercentTolerance(double percent)
Set the percentage error which is considered tolerable for use with OnTarget.
Definition: PIDSubsystem.cpp:204
void SetOutputRange(double minimumOutput, double maximumOutput)
Sets the maximum and minimum values to write.
Definition: PIDSubsystem.cpp:185
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:19
virtual bool OnTarget() const
Return true if the error is within the percentage of the total input range, determined by SetToleranc...
Definition: PIDSubsystem.cpp:223
double GetSetpoint()
Return the current setpoint.
Definition: PIDSubsystem.cpp:167
std::shared_ptr< PIDController > GetPIDController()
Returns the PIDController used by this PIDSubsystem.
Definition: PIDSubsystem.cpp:134
This class is designed to handle the case where there is a Subsystem which uses a single PIDControlle...
Definition: PIDSubsystem.h:30
void InitTable(std::shared_ptr< ITable > subtable) override
Initializes a table for this sendable object.
Definition: PIDSubsystem.cpp:245
Definition: Subsystem.h:20
PIDSubsystem(const std::string &name, double p, double i, double d)
Instantiates a PIDSubsystem that will use the given p, i and d values.
Definition: PIDSubsystem.cpp:23
PIDOutput interface is a generic output for the PID class.
Definition: PIDOutput.h:20
void Enable()
Enables the internal PIDController.
Definition: PIDSubsystem.cpp:120
void SetInputRange(double minimumInput, double maximumInput)
Sets the maximum and minimum values expected from the input.
Definition: PIDSubsystem.cpp:175
void SetSetpointRelative(double deltaSetpoint)
Adds the given value to the setpoint.
Definition: PIDSubsystem.cpp:158
void Disable()
Disables the internal PIDController.
Definition: PIDSubsystem.cpp:125
double GetRate()
Returns the current rate.
Definition: PIDSubsystem.cpp:237
std::string GetSmartDashboardType() const override
Definition: PIDSubsystem.cpp:243
virtual void SetAbsoluteTolerance(double absValue)
Set the absolute error which is considered tolerable for use with OnTarget.
Definition: PIDSubsystem.cpp:195
double GetPosition()
Returns the current position.
Definition: PIDSubsystem.cpp:230