12 #include <llvm/Twine.h> 14 #include "Commands/Subsystem.h" 15 #include "PIDController.h" 16 #include "PIDOutput.h" 17 #include "PIDSource.h" 38 PIDSubsystem(
double p,
double i,
double d,
double f,
double period);
45 void PIDWrite(
double output)
override;
48 double PIDGet()
override;
64 virtual double ReturnPIDInput() = 0;
65 virtual void UsePIDOutput(
double output) = 0;
69 std::shared_ptr<PIDController> m_controller;
Definition: RobotController.cpp:14
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:184
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:20
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:166
std::shared_ptr< PIDController > GetPIDController()
Returns the PIDController used by this PIDSubsystem.
Definition: PIDSubsystem.cpp:134
Twine - A lightweight data structure for efficiently representing the concatenation of temporary valu...
Definition: Twine.h:79
This class is designed to handle the case where there is a Subsystem which uses a single PIDControlle...
Definition: PIDSubsystem.h:30
Definition: Subsystem.h: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:174
PIDSubsystem(const llvm::Twine &name, double p, double i, double d)
Instantiates a PIDSubsystem that will use the given P, I, and D values.
Definition: PIDSubsystem.cpp:22
void SetSetpointRelative(double deltaSetpoint)
Adds the given value to the setpoint.
Definition: PIDSubsystem.cpp:157
void Disable()
Disables the internal PIDController.
Definition: PIDSubsystem.cpp:125
double GetRate()
Returns the current rate.
Definition: PIDSubsystem.cpp:237
virtual void SetAbsoluteTolerance(double absValue)
Set the absolute error which is considered tolerable for use with OnTarget.
Definition: PIDSubsystem.cpp:194
double GetPosition()
Returns the current position.
Definition: PIDSubsystem.cpp:230