(mostly) update to new WPIlib.

PIDController has some TODOs in there

1 files changed, 17 insertions, 2 deletions

diff --git a/src/org/mckenzierobotics/lib/robot/RollingAvg.java b/src/org/mckenzierobotics/lib/robot/RollingAvg.java
index fcbf8e4..d73f64e 100644
--- a/src/org/mckenzierobotics/lib/robot/RollingAvg.java
+++ b/src/org/mckenzierobotics/lib/robot/RollingAvg.java
@@ -30,6 +30,7 @@
 package org.mckenzierobotics.lib.robot;
 
 import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.PIDOutput;
 
 /**
@@ -65,11 +66,25 @@ public class RollingAvg implements PIDSource, PIDOutput {
 	}
 
 	public double pidGet() {
-		if (source!=null) return push(source.pidGet());
-		return get();
+		if (source!=null)
+			return push(source.pidGet());
+		else
+			return get();
 	}
 	
 	public void pidWrite(double output) {
 		push(output);
 	}
+
+	public void setPIDSourceType(PIDSourceType srcType) {
+		if (source!=null)
+			source.setPIDSourceType(srcType);
+	}
+
+	public PIDSourceType getPIDSourceType() {
+		if (source!=null)
+			return source.getPIDSourceType();
+		else
+			return null;
+	}
 }