001/*----------------------------------------------------------------------------*/
002/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
003/* Open Source Software - may be modified and shared by FRC teams. The code   */
004/* must be accompanied by the FIRST BSD license file in the root directory of */
005/* the project.                                                               */
006/*----------------------------------------------------------------------------*/
007
008package edu.wpi.first.wpilibj;
009
010@SuppressWarnings("SummaryJavadoc")
011public interface PIDInterface extends Controller {
012
013  @SuppressWarnings("ParameterName")
014  void setPID(double p, double i, double d);
015
016  double getP();
017
018  double getI();
019
020  double getD();
021
022  void setSetpoint(double setpoint);
023
024  double getSetpoint();
025
026  double getError();
027
028  void enable();
029
030  void disable();
031
032  boolean isEnabled();
033
034  void reset();
035}