WPILibC++  unspecified
PIDInterface.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2016-2018 FIRST. 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 
13 namespace frc {
14 
15 class PIDInterface : public Controller {
16  virtual void SetPID(double p, double i, double d) = 0;
17  virtual double GetP() const = 0;
18  virtual double GetI() const = 0;
19  virtual double GetD() const = 0;
20 
21  virtual void SetSetpoint(double setpoint) = 0;
22  virtual double GetSetpoint() const = 0;
23 
24  virtual void Enable() = 0;
25  virtual void Disable() = 0;
26  virtual bool IsEnabled() const = 0;
27 
28  virtual void Reset() = 0;
29 };
30 
31 } // namespace frc
Definition: RobotController.cpp:14
Interface for Controllers.
Definition: Controller.h:19
Definition: PIDInterface.h:15