8 #ifndef __PID_SUBSYSTEM_H__
9 #define __PID_SUBSYSTEM_H__
11 #include "Commands/Subsystem.h"
12 #include "PIDController.h"
13 #include "PIDSource.h"
14 #include "PIDOutput.h"
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,
38 PIDSubsystem(
double p,
double i,
double d,
double f,
double period);
45 virtual void PIDWrite(
float output);
48 virtual double PIDGet();
57 virtual void SetAbsoluteTolerance(
float absValue);
58 virtual void SetPercentTolerance(
float percent);
59 virtual bool OnTarget()
const;
64 virtual double ReturnPIDInput() = 0;
65 virtual void UsePIDOutput(
double output) = 0;
69 std::shared_ptr<PIDController> m_controller;
72 virtual void InitTable(std::shared_ptr<ITable> table);
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