diff options
author | Luke Shumaker <lukeshu@sbcglobal.net> | 2016-01-16 15:14:37 -0500 |
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committer | Luke Shumaker <lukeshu@sbcglobal.net> | 2016-01-16 15:14:37 -0500 |
commit | 7fad9de275f72354deb1a86ee0e8312a420bf783 (patch) | |
tree | 075c09eccd19a5c24ee5a74a12d9a2e7964b5e49 /src/org/mckenzierobotics/lib/robot/FeedForward.java | |
parent | 43771f1f16c8368fde4267ed64c4568dc620ad61 (diff) |
mv src/org/mkenzierobotics/lib/robot/* src/org/usfirst/frc/team4272/robotlib
Diffstat (limited to 'src/org/mckenzierobotics/lib/robot/FeedForward.java')
-rw-r--r-- | src/org/mckenzierobotics/lib/robot/FeedForward.java | 76 |
1 files changed, 0 insertions, 76 deletions
diff --git a/src/org/mckenzierobotics/lib/robot/FeedForward.java b/src/org/mckenzierobotics/lib/robot/FeedForward.java deleted file mode 100644 index c7a06b8..0000000 --- a/src/org/mckenzierobotics/lib/robot/FeedForward.java +++ /dev/null @@ -1,76 +0,0 @@ -/** - * Copyright (c) 2012 Precise Path Robotics, Inc - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see <http://www.gnu.org/licenses/>. - * - * @author Luke Shumaker <lukeshu@sbcglobal.net> - */ -package org.mckenzierobotics.lib.robot; - -import edu.wpi.first.wpilibj.PIDOutput; -import edu.wpi.first.wpilibj.PIDSource; - -/** - * - * @author Luke Shumaker <lukeshu@sbcglobal.net> - */ -public abstract class FeedForward implements PIDOutput { - private class PIDTrigger implements PIDOutput { - private FeedForward ff; - public PIDTrigger(FeedForward ff) { - this.ff = ff; - } - public void pidWrite(double output) { - ff.update(output); - } - } - private PIDController pid; - private PIDOutput pidOutput; - public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output) { - pidOutput = output; - pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this)); - } - public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period) { - pidOutput = output; - pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), period); - } - - public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, boolean autodisable) { - pidOutput = output; - pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), autodisable); - } - public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period, boolean autodisable) { - pidOutput = output; - pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), period, autodisable); - } - - public PIDController getPID() { - return pid; - } - - public void pidWrite(double output) { - pid.setSetpoint(output); - } - - public void update(double pidResult) { - if (pid.isEnabled()) { - double ffResult = calculate(pid.getSetpoint()); - pidOutput.pidWrite(ffResult+pidResult); - } else { - pidOutput.pidWrite(0); - } - } - - public abstract double calculate(double setpoint); -} |