Commands/PIDCommand.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef __PID_COMMAND_H__
#define __PID_COMMAND_H__

#include "Commands/Command.h"
#include "PIDSource.h"
#include "PIDOutput.h"

class NetworkTable;
class PIDController;
class SendablePIDController;

class PIDCommand : public Command, public PIDOutput, public PIDSource
{
public:
        PIDCommand(const char *name, double p, double i, double d);
        PIDCommand(const char *name, double p, double i, double d, double period);
        PIDCommand(double p, double i, double d);
        PIDCommand(double p, double i, double d, double period);
        virtual ~PIDCommand();
        
        void SetSetpointRelative(double deltaSetpoint);

        // PIDOutput interface
        virtual void PIDWrite(float output);

        // PIDSource interface
        virtual double PIDGet();

        NetworkTable *GetControllerTable();

        virtual std::string GetType();
protected:
        PIDController *GetPIDController();
        virtual void _Initialize();
        virtual void _Interrupted();
        virtual void _End();
        void SetSetpoint(double setpoint);
        double GetSetpoint();
        double GetPosition();
        void SetSetpointRange(double a, double b);

        virtual double ReturnPIDInput() = 0;
        virtual void UsePIDOutput(double output) = 0;

private:        
        double m_max;
        double m_min;
        SendablePIDController *m_controller;
};

#endif