SmartDashboard/SendablePIDController.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 __SENDABLE_PID_CONTROLLER_H__
#define __SENDABLE_PID_CONTROLLER_H__

#include "NetworkTables/NetworkTableChangeListener.h"
#include "PIDController.h"
#include "SmartDashboard/SmartDashboardData.h"

class NetworkTable;

class SendablePIDController : public PIDController, public SmartDashboardData, public NetworkTableChangeListener
{
public:
        SendablePIDController(double p, double i, double d, PIDSource *source, PIDOutput *output);
        SendablePIDController(double p, double i, double d, PIDSource *source, PIDOutput *output, double period);
        virtual ~SendablePIDController();

        virtual void SetSetpoint(float setpoint);
        virtual void SetPID(double p, double i, double d); 
        virtual void Enable();
        virtual void Disable();

        // SmartDashboardData interface
        virtual std::string GetType() {return "PIDController";}
        virtual NetworkTable *GetTable();

        // NetworkTableChangeListener interface
        virtual void ValueChanged(NetworkTable *table, const char *name, NetworkTables_Types type);
        virtual void ValueConfirmed(NetworkTable *table, const char *name, NetworkTables_Types type) {}

private:
        NetworkTable* m_table;
};

#endif