WPILibC++  unspecified
PIDSource.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2008-2018 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 namespace frc {
11 
12 enum class PIDSourceType { kDisplacement, kRate };
13 
20 class PIDSource {
21  public:
27  virtual void SetPIDSourceType(PIDSourceType pidSource);
28 
29  virtual PIDSourceType GetPIDSourceType() const;
30 
31  virtual double PIDGet() = 0;
32 
33  protected:
34  PIDSourceType m_pidSource = PIDSourceType::kDisplacement;
35 };
36 
37 } // namespace frc
Definition: Utility.cpp:119
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:20