8 #ifndef __PID_COMMAND_H__
9 #define __PID_COMMAND_H__
11 #include "Commands/Command.h"
12 #include "PIDController.h"
13 #include "PIDSource.h"
14 #include "PIDOutput.h"
20 PIDCommand(
const std::string &name,
double p,
double i,
double d);
21 PIDCommand(
const std::string &name,
double p,
double i,
double d,
double period);
22 PIDCommand(
const std::string &name,
double p,
double i,
double d,
double f,
25 PIDCommand(
double p,
double i,
double d,
double period);
26 PIDCommand(
double p,
double i,
double d,
double f,
double period);
29 void SetSetpointRelative(
double deltaSetpoint);
32 virtual void PIDWrite(
float output);
35 virtual double PIDGet();
38 std::shared_ptr<PIDController> GetPIDController()
const;
39 virtual void _Initialize();
40 virtual void _Interrupted();
42 void SetSetpoint(
double setpoint);
43 double GetSetpoint()
const;
46 virtual double ReturnPIDInput() = 0;
47 virtual void UsePIDOutput(
double output) = 0;
51 std::shared_ptr<PIDController> m_controller;
54 virtual void InitTable(std::shared_ptr<ITable> table);
virtual std::string GetSmartDashboardType() const
Definition: PIDCommand.cpp:67
virtual void InitTable(std::shared_ptr< ITable > table)
Initializes a table for this sendable object.
Definition: PIDCommand.cpp:68
PIDOutput interface is a generic output for the PID class.
Definition: PIDOutput.h:18
Definition: PIDCommand.h:18
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:18
The Command class is at the very core of the entire command framework.
Definition: Command.h:54