mv src/org/mkenzierobotics/lib/robot/* src/org/usfirst/frc/team4272/robotlib

1 files changed, 0 insertions, 50 deletions

diff --git a/src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java b/src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java
deleted file mode 100644
index 10f01ce..0000000
--- a/src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java
+++ /dev/null
@@ -1,50 +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.Timer;
-
-/**
- *
- * @author Luke Shumaker <lukeshu@sbcglobal.net>
- */
-public class RateLimitedPIDOutput implements PIDOutput {
-	PIDOutput o;
-	double m;
-	double prev_rate = 0;
-	double prev_time = 0;
-
-	public RateLimitedPIDOutput(PIDOutput out, double maxChange) {
-		o = out;
-		m = maxChange;
-	}
-
-	public void pidWrite(double rate) {
-		double time = Timer.getFPGATimestamp();
-		double dTime = time-prev_time;
-		double dRate = rate-prev_rate;
-		if (Math.abs(dRate/dTime)>m) {
-			int sign = (dRate<0?-1:1);
-			rate = prev_rate+(m*dTime*sign);
-		}
-		o.pidWrite(rate);
-	}
-}