# validated: 2015-12-22 DS 6d854af shared/java/edu/wpi/first/wpilibj/PIDSource.java
#----------------------------------------------------------------------------
# Copyright (c) FIRST 2008-2012. 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 the root directory of
# the project.
#----------------------------------------------------------------------------
__all__ = ["PIDSource"]
[docs]class PIDSource:
"""This interface allows for :class:`.PIDController` to automatically read from this
object.
"""
@staticmethod
[docs] def from_obj_or_callable(objc):
"""
Utility method that gets a PIDSource object
:param objc: An object that implements the PIDSource interface, or
a callable
:returns: an object that implements the PIDSource interface
"""
# This isn't pythonic, but will cause errors to happen earlier
if not hasattr(objc, 'pidGet'):
if not callable(objc):
raise TypeError("%s must be callable or ")
return _PIDSourceWrapper(objc)
if not hasattr(objc, 'getPIDSourceType'):
raise TypeError("%s does not have getPIDSourceType method" % objc)
return objc
[docs] class PIDSourceType:
"""A description for the type of output value to provide to a
:class:`.PIDController`"""
kDisplacement = 0
kRate = 1
[docs] def setPIDSourceType(self, pidSource):
"""Set which parameter of the device you are using as a process control
variable.
:param pidSource: An enum to select the parameter.
:type pidSource: :class:`.PIDSourceType`
"""
raise NotImplementedError
[docs] def getPIDSourceType(self):
"""Get which parameter of the device you are using as a process control
variable.
:returns: the currently selected PID source parameter
"""
raise NotImplementedError
[docs] def pidGet(self):
"""Get the result to use in :class:`.PIDController`
:returns: the result to use in PIDController
"""
raise NotImplementedError
class _PIDSourceWrapper(PIDSource):
def __init__(self, fn):
self.pidGet = fn
def getPIDSourceType(self):
return self.PIDSourceType.kDisplacement