Write javadocs for robotlib.

1 files changed, 12 insertions, 1 deletions

diff --git a/src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java b/src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java
index 70010c6..42121a5 100644
--- a/src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java
+++ b/src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java
@@ -1,5 +1,6 @@
 /**
  * Copyright (c) 2012 Precise Path Robotics, Inc
+ * Copyright (c) 2017 Luke Shumaker
  *
  * 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
@@ -22,7 +23,12 @@ import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.Timer;
 
 /**
- * TODO: Write JavaDocs
+ * RateLimitedPIDOutput wraps a {@link PIDOutput}, unsuring that the
+ * set value does not change too quickly.
+ *
+ * If the writer attempts to call {@link pidWrite(double)} with a
+ * value that is too different than the previous value; it will
+ * instead write a value that is closer to the previous value.
  */
 public class RateLimitedPIDOutput implements PIDOutput {
 	PIDOutput o;
@@ -30,6 +36,11 @@ public class RateLimitedPIDOutput implements PIDOutput {
 	double prev_rate = 0;
 	double prev_time = 0;
 
+	/**
+	 * @param out The actual PIDOutput to write to.
+	 * @param maxChange the maximum amount that the setpoint can
+	 *        change by per second.
+	 */
 	public RateLimitedPIDOutput(PIDOutput out, double maxChange) {
 		o = out;
 		m = maxChange;