12 #include <wpi/Twine.h> 14 #include "Commands/Subsystem.h" 15 #include "PIDController.h" 16 #include "PIDOutput.h" 17 #include "PIDSource.h" 104 PIDSubsystem(
double p,
double i,
double d,
double f,
double period);
119 void PIDWrite(
double output)
override;
123 double PIDGet()
override;
151 void SetInputRange(
double minimumInput,
double maximumInput);
225 virtual double ReturnPIDInput() = 0;
226 virtual void UsePIDOutput(
double output) = 0;
230 std::shared_ptr<PIDController> m_controller;
Definition: Utility.cpp:119
void SetSetpoint(double setpoint)
Sets the setpoint to the given value.
Definition: PIDSubsystem.cpp:63
virtual void SetPercentTolerance(double percent)
Set the percentage error which is considered tolerable for use with OnTarget().
Definition: PIDSubsystem.cpp:89
void SetOutputRange(double minimumOutput, double maximumOutput)
Sets the maximum and minimum values to write.
Definition: PIDSubsystem.cpp:75
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:93
double GetSetpoint()
Return the current setpoint.
Definition: PIDSubsystem.cpp:79
std::shared_ptr< PIDController > GetPIDController()
Returns the PIDController used by this PIDSubsystem.
Definition: PIDSubsystem.cpp:95
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:55
void SetInputRange(double minimumInput, double maximumInput)
Sets the maximum and minimum values expected from the input.
Definition: PIDSubsystem.cpp:71
void SetSetpointRelative(double deltaSetpoint)
Adds the given value to the setpoint.
Definition: PIDSubsystem.cpp:67
PIDSubsystem(const wpi::Twine &name, double p, double i, double d)
Instantiates a PIDSubsystem that will use the given P, I, and D values.
Definition: PIDSubsystem.cpp:14
void Disable()
Disables the internal PIDController.
Definition: PIDSubsystem.cpp:57
double GetRate()
Returns the current rate.
Definition: PIDSubsystem.cpp:83
virtual void SetAbsoluteTolerance(double absValue)
Set the absolute error which is considered tolerable for use with OnTarget.
Definition: PIDSubsystem.cpp:85
double GetPosition()
Returns the current position.
Definition: PIDSubsystem.cpp:81
Twine - A lightweight data structure for efficiently representing the concatenation of temporary valu...
Definition: Twine.h:79