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PIDSubsystem.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2011-2016. 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 #ifndef __PID_SUBSYSTEM_H__
9 #define __PID_SUBSYSTEM_H__
10 
11 #include "Commands/Subsystem.h"
12 #include "PIDController.h"
13 #include "PIDSource.h"
14 #include "PIDOutput.h"
15 
16 #include <memory>
17 
30 class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
31  public:
32  PIDSubsystem(const std::string &name, double p, double i, double d);
33  PIDSubsystem(const std::string &name, double p, double i, double d, double f);
34  PIDSubsystem(const std::string &name, double p, double i, double d, double f,
35  double period);
36  PIDSubsystem(double p, double i, double d);
37  PIDSubsystem(double p, double i, double d, double f);
38  PIDSubsystem(double p, double i, double d, double f, double period);
39  virtual ~PIDSubsystem() = default;
40 
41  void Enable();
42  void Disable();
43 
44  // PIDOutput interface
45  virtual void PIDWrite(float output);
46 
47  // PIDSource interface
48  virtual double PIDGet();
49  void SetSetpoint(double setpoint);
50  void SetSetpointRelative(double deltaSetpoint);
51  void SetInputRange(float minimumInput, float maximumInput);
52  void SetOutputRange(float minimumOutput, float maximumOutput);
53  double GetSetpoint();
54  double GetPosition();
55  double GetRate();
56 
57  virtual void SetAbsoluteTolerance(float absValue);
58  virtual void SetPercentTolerance(float percent);
59  virtual bool OnTarget() const;
60 
61  protected:
62  std::shared_ptr<PIDController> GetPIDController();
63 
64  virtual double ReturnPIDInput() = 0;
65  virtual void UsePIDOutput(double output) = 0;
66 
67  private:
69  std::shared_ptr<PIDController> m_controller;
70 
71  public:
72  virtual void InitTable(std::shared_ptr<ITable> table);
73  virtual std::string GetSmartDashboardType() const;
74 };
75 
76 #endif
double GetSetpoint()
Return the current setpoint.
Definition: PIDSubsystem.cpp:148
PIDSubsystem(const std::string &name, double p, double i, double d)
Instantiates a PIDSubsystem that will use the given p, i and d values.
Definition: PIDSubsystem.cpp:20
double GetRate()
Returns the current rate.
Definition: PIDSubsystem.cpp:215
void SetSetpoint(double setpoint)
Sets the setpoint to the given value.
Definition: PIDSubsystem.cpp:130
void SetOutputRange(float minimumOutput, float maximumOutput)
Sets the maximum and minimum values to write.
Definition: PIDSubsystem.cpp:166
double GetPosition()
Returns the current position.
Definition: PIDSubsystem.cpp:209
This class is designed to handle the case where there is a Subsystem which uses a single PIDControlle...
Definition: PIDSubsystem.h:30
PIDOutput interface is a generic output for the PID class.
Definition: PIDOutput.h:18
virtual void InitTable(std::shared_ptr< ITable > table)
Initializes a table for this sendable object.
Definition: PIDSubsystem.cpp:222
virtual std::string GetSmartDashboardType() const
Definition: PIDSubsystem.cpp:221
Definition: Subsystem.h:18
void SetSetpointRelative(double deltaSetpoint)
Adds the given value to the setpoint.
Definition: PIDSubsystem.cpp:140
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:18
void Enable()
Enables the internal PIDController.
Definition: PIDSubsystem.cpp:105
std::shared_ptr< PIDController > GetPIDController()
Returns the PIDController used by this PIDSubsystem.
Definition: PIDSubsystem.cpp:118
void SetInputRange(float minimumInput, float maximumInput)
Sets the maximum and minimum values expected from the input.
Definition: PIDSubsystem.cpp:156
void Disable()
Disables the internal PIDController.
Definition: PIDSubsystem.cpp:110