7 #ifndef __PID_SUBSYSTEM_H__
8 #define __PID_SUBSYSTEM_H__
10 #include "Commands/Subsystem.h"
11 #include "PIDController.h"
12 #include "PIDSource.h"
13 #include "PIDOutput.h"
28 PIDSubsystem(
const char *name,
double p,
double i,
double d);
29 PIDSubsystem(
const char *name,
double p,
double i,
double d,
double f);
30 PIDSubsystem(
const char *name,
double p,
double i,
double d,
double f,
double period);
33 PIDSubsystem(
double p,
double i,
double d,
double f,
double period);
40 virtual void PIDWrite(
float output);
43 virtual double PIDGet();
50 virtual void SetAbsoluteTolerance(
float absValue);
51 virtual void SetPercentTolerance(
float percent);
52 virtual bool OnTarget();
57 virtual double ReturnPIDInput() = 0;
58 virtual void UsePIDOutput(
double output) = 0;
void SetInputRange(float minimumInput, float maximumInput)
void SetSetpoint(double setpoint)
PIDController * GetPIDController()
PIDSubsystem(const char *name, double p, double i, double d)
void SetSetpointRelative(double deltaSetpoint)
virtual std::string GetSmartDashboardType()
virtual void InitTable(ITable *table)