diff options
author | Luke Shumaker <lukeshu@sbcglobal.net> | 2016-01-16 15:14:37 -0500 |
---|---|---|
committer | Luke Shumaker <lukeshu@sbcglobal.net> | 2016-01-16 15:14:37 -0500 |
commit | 7fad9de275f72354deb1a86ee0e8312a420bf783 (patch) | |
tree | 075c09eccd19a5c24ee5a74a12d9a2e7964b5e49 /src/org/usfirst/frc/team4272/robotlib/SendablePIDOutput.java | |
parent | 43771f1f16c8368fde4267ed64c4568dc620ad61 (diff) |
mv src/org/mkenzierobotics/lib/robot/* src/org/usfirst/frc/team4272/robotlib
Diffstat (limited to 'src/org/usfirst/frc/team4272/robotlib/SendablePIDOutput.java')
-rw-r--r-- | src/org/usfirst/frc/team4272/robotlib/SendablePIDOutput.java | 42 |
1 files changed, 42 insertions, 0 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/SendablePIDOutput.java b/src/org/usfirst/frc/team4272/robotlib/SendablePIDOutput.java new file mode 100644 index 0000000..a6886fa --- /dev/null +++ b/src/org/usfirst/frc/team4272/robotlib/SendablePIDOutput.java @@ -0,0 +1,42 @@ +/** + * Copyright (c) 2012, 2015 Precise Path Robotics, Inc + * + * 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 + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * @author Luke Shumaker <lukeshu@sbcglobal.net> + */ + +package org.usfirst.frc.team4272.robotlib; + +import edu.wpi.first.wpilibj.PIDOutput; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +/** + * + * @author Luke Shumaker <lukeshu@sbcglobal.net> + */ +public class SendablePIDOutput implements PIDOutput { + PIDOutput o; + String n; + + public SendablePIDOutput(String name, PIDOutput out) { + n = name; + o = out; + } + + public void pidWrite(double val) { + o.pidWrite(val); + SmartDashboard.putNumber(n, val); + } +} |