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diff --git a/src/org/mckenzierobotics/lib/robot/PIDController.java b/src/org/mckenzierobotics/lib/robot/PIDController.java
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+/**
+ * Copyright (c) 2011, 2012, 2015 Luke Shumaker
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the FIRST nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR 
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR 
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * 
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+package org.mckenzierobotics.lib.robot;
+
+import edu.wpi.first.wpilibj.PIDOutput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.SpeedController;
+//import edu.wpi.first.wpilibj.PIDController;
+
+/**
+ * TODO: Write JavaDocs
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public class PIDController extends edu.wpi.first.wpilibj.PIDController implements SpeedController {
+	private boolean autodisable = false;
+	/**
+	 * Default to true, so if we don't use autodisable, we don't enable when we
+	 * shouldn't, as we will think it's already enabled.
+	 */
+	private boolean enabled = true;
+	public final PIDSource source;
+	public final PIDOutput output;
+	public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output) {
+		super(Kp, Ki, Kd, source, output);
+		this.source = source;
+		this.output = output;
+	}
+	public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period) {
+		super(Kp, Ki, Kd, source, output, period);
+		this.source = source;
+		this.output = output;
+	}
+	
+	public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, boolean autodisable) {
+		super(Kp, Ki, Kd, source, output);
+		this.autodisable = autodisable;
+		enabled = this.isEnable();
+		this.source = source;
+		this.output = output;
+	}
+	public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period, boolean autodisable) {
+		super(Kp, Ki, Kd, source, output, period);
+		this.autodisable = autodisable;
+		enabled = this.isEnable();
+		this.source = source;
+		this.output = output;
+	}
+	
+	public void setSetpoint(double output) {
+		if ((output == 0) && autodisable) {
+			disable();
+			enabled = false;
+		} else {
+			if (!enabled) {
+				enable();
+				enabled = true;
+			}
+			super.setSetpoint(output);
+		}
+	}
+	
+	public void pidWrite(double output) {
+		setSetpoint(output);
+	}
+	
+	public void set(double output) {
+		setSetpoint(output);
+	}
+	
+	/**
+	 * Don't use this; it is leaking up from CANJaguar
+	 * @param output
+	 * @param syncGroup 
+	 */
+	public void set(double output, byte syncGroup) {
+		setSetpoint(output);
+	}
+}