/**
* Get the PIDOutput for the PIDSource base object. Can be set to return
* angle or rate using SetPIDSourceType(). Defaults to angle.
*
* @return The PIDOutput (angle or rate, defaults to angle)
*/
double GyroBase::PIDGet() {
switch (GetPIDSourceType()) {
case PIDSourceType::kRate:
return GetRate();
case PIDSourceType::kDisplacement:
return GetAngle();
default:
return 0;
}
}
/**
* Implement the PIDSource interface.
*
* @return The current value of the selected source parameter.
*/
double Encoder::PIDGet() {
if (StatusIsFatal()) return 0.0;
switch (GetPIDSourceType()) {
case PIDSourceType::kDisplacement:
return GetDistance();
case PIDSourceType::kRate:
return GetRate();
default:
return 0.0;
}
}
