WPILibC++  2020.3.2-60-g3011ebe
PIDInterface.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2016-2020 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 #include <wpi/deprecated.h>
11 
12 namespace frc {
13 
19 class PIDInterface {
20  public:
21  WPI_DEPRECATED("All APIs which use this have been deprecated.")
22  PIDInterface() = default;
23  PIDInterface(PIDInterface&&) = default;
24  PIDInterface& operator=(PIDInterface&&) = default;
25 
26  virtual void SetPID(double p, double i, double d) = 0;
27  virtual double GetP() const = 0;
28  virtual double GetI() const = 0;
29  virtual double GetD() const = 0;
30 
31  virtual void SetSetpoint(double setpoint) = 0;
32  virtual double GetSetpoint() const = 0;
33 
34  virtual void Reset() = 0;
35 };
36 
37 } // namespace frc
frc::PIDInterface
Interface for PID Control Loop.
Definition: PIDInterface.h:19
frc
A class that enforces constraints on the differential drive kinematics.
Definition: PDPSim.h:16