Write javadocs for robotlib.

1 files changed, 24 insertions, 2 deletions

diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java b/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java
index b9d19da..1c63b22 100644
--- a/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java
+++ b/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java
@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2011-2012, 2015 Luke Shumaker
+ * Copyright (c) 2011-2012, 2015, 2017 Luke Shumaker
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -31,12 +31,28 @@ package org.usfirst.frc.team4272.robotlib;
 import edu.wpi.first.wpilibj.PIDOutput;
 
 /**
- * TODO: Write JavaDocs
+ * PIDOutputSplitter sets a single setpoint on many underlying {@link PIDOutput}s.
+ *
+ * Because it is undesirable that an exception from one underlying
+ * PIDOutput prevent the others from receiving the value; rather than
+ * letting an exception be thrown normally, it is handle by the
+ * {@link error(Exception)} method--see the documentation there for
+ * advanced error handling.
  */
 public class PIDOutputSplitter implements PIDOutput {
 	private final PIDOutput[] outputs;
 	private final double[] scalars;
 
+	/**
+	 * Construct with a scalar for each underlying output.  If the
+	 * length of the arrays do not match, a
+	 * {@link RuntimeException} is thrown.
+	 *
+	 * @param outputs The underlying PIDOutputs that are written
+	 *        to.
+	 * @param scalars How much to scale the setpoint written to
+	 *        each output by.
+	 */
 	public PIDOutputSplitter(PIDOutput[] outputs, double[] scalars) {
 		this.outputs = outputs;
 		this.scalars = scalars;
@@ -45,6 +61,12 @@ public class PIDOutputSplitter implements PIDOutput {
 		}
 	}
 
+	/**
+	 * Construct a PIDOutputSplitter that applies no scaling.
+	 *
+	 * @param outputs The underlying PIDOutputs that are written
+	 *        to.
+	 */
 	public PIDOutputSplitter(PIDOutput... outputs) {
 		double[] s = new double[outputs.length];
 		for (int i=0; i<s.length; i++) {