WPILibC++
2020.3.2
PIDSource.h
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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namespace
frc
{
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enum class
PIDSourceType { kDisplacement, kRate };
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class
PIDSource
{
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public
:
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virtual
~
PIDSource
() =
default
;
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virtual
void
SetPIDSourceType
(PIDSourceType pidSource);
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virtual
PIDSourceType GetPIDSourceType()
const
;
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virtual
double
PIDGet() = 0;
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protected
:
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PIDSourceType m_pidSource = PIDSourceType::kDisplacement;
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};
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}
// 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:
SPIAccelerometerSim.h:16
wpilibc
src
main
native
include
frc
PIDSource.h
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