WPILibC++  2020.3.2-60-g3011ebe
PIDSource.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2008-2018 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 namespace frc {
11 
12 enum class PIDSourceType { kDisplacement, kRate };
13 
20 class PIDSource {
21  public:
22  virtual ~PIDSource() = default;
23 
29  virtual void SetPIDSourceType(PIDSourceType pidSource);
30 
31  virtual PIDSourceType GetPIDSourceType() const;
32 
33  virtual double PIDGet() = 0;
34 
35  protected:
36  PIDSourceType m_pidSource = PIDSourceType::kDisplacement;
37 };
38 
39 } // namespace frc
frc::PIDSource
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:20
frc::PIDSource::SetPIDSourceType
virtual void SetPIDSourceType(PIDSourceType pidSource)
Set which parameter you are using as a process control variable.
frc
A class that enforces constraints on the differential drive kinematics.
Definition: PDPSim.h:16