12 #include <wpi/Twine.h>
14 #include "frc/PIDController.h"
15 #include "frc/PIDOutput.h"
16 #include "frc/PIDSource.h"
17 #include "frc/commands/Command.h"
29 PIDCommand(
double p,
double i,
double d,
double period);
30 PIDCommand(
double p,
double i,
double d,
double f,
double period);
39 PIDCommand(
double p,
double i,
double d,
double f,
double period,
46 void SetSetpointRelative(
double deltaSetpoint);
49 void PIDWrite(
double output)
override;
52 double PIDGet()
override;
55 std::shared_ptr<PIDController> GetPIDController()
const;
56 void _Initialize()
override;
57 void _Interrupted()
override;
59 void SetSetpoint(
double setpoint);
60 double GetSetpoint()
const;
63 virtual double ReturnPIDInput() = 0;
64 virtual void UsePIDOutput(
double output) = 0;
68 std::shared_ptr<PIDController> m_controller;
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:20
Definition: PIDCommand.h:21
void InitSendable(SendableBuilder &builder) override
Initializes this Sendable object.
The Command class is at the very core of the entire command framework.
Definition: Command.h:49
Definition: Subsystem.h:24
A class that enforces constraints on the differential drive kinematics.
Definition: SPIAccelerometerSim.h:16
PIDOutput interface is a generic output for the PID class.
Definition: PIDOutput.h:20
Twine - A lightweight data structure for efficiently representing the concatenation of temporary valu...
Definition: Twine.h:85
Definition: SendableBuilder.h:23