diff options
author | Luke Shumaker <lukeshu@sbcglobal.net> | 2016-01-16 12:51:47 -0500 |
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committer | Luke Shumaker <lukeshu@sbcglobal.net> | 2016-01-16 12:51:47 -0500 |
commit | 75c2407dd85a69b8f80e9b376da1bfb9ed0bb173 (patch) | |
tree | 09ef3a14f252bc2fd4cb9e8deb45da677383aff8 /src/org/mckenzierobotics/lib/robot/RollingAvg.java | |
parent | 636cf0465605d9dd482e1fb75f8b81e509703403 (diff) |
(mostly) update to new WPIlib.
PIDController has some TODOs in there
Diffstat (limited to 'src/org/mckenzierobotics/lib/robot/RollingAvg.java')
-rw-r--r-- | src/org/mckenzierobotics/lib/robot/RollingAvg.java | 19 |
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; + } } |