stuff

1 files changed, 17 insertions, 19 deletions

diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDController.java b/src/org/usfirst/frc/team4272/robotlib/PIDController.java
index 965851d..6650ad4 100644
--- a/src/org/usfirst/frc/team4272/robotlib/PIDController.java
+++ b/src/org/usfirst/frc/team4272/robotlib/PIDController.java
@@ -34,7 +34,12 @@ import edu.wpi.first.wpilibj.SpeedController;
 //import edu.wpi.first.wpilibj.PIDController;
 
 /**
- * TODO: Write JavaDocs
+ * A variant of edu.wpi.first.wpilibj.PIDController that also:
+ * <ul>
+ *  <li> implements SpeedController (and therefore PIDOutput)
+ *  <li> has auto-enable/disable functionality to avoid "locking" the
+ *       motor when the setpoint is 0.
+ *
  * @author Luke Shumaker <lukeshu@sbcglobal.net>
  */
 public class PIDController extends edu.wpi.first.wpilibj.PIDController implements SpeedController {
@@ -47,37 +52,28 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement
 	public final PIDSource source;
 	public final PIDOutput output;
 
-	/* Mimic the four PIDController constructors *******************/
+	/* Constructors *******************************************************/
 
 	public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output) {
-		super(Kp, Ki, Kd, source, output);
-		this.source = source;
-		this.output = output;
+		this(Kp, Ki, Kd, source, output, kDefaultPeriod, false);
 	}
 	public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period) {
-		super(Kp, Ki, Kd, source, output, period);
-		this.source = source;
-		this.output = output;
+		this(Kp, Ki, Kd, source, output, period, false);
 	}
-
 	public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, boolean autodisable) {
-		super(Kp, Ki, Kd, source, output);
-		this.autodisable = autodisable;
-		enabled = this.isEnabled();
-		this.source = source;
-		this.output = output;
+		this(Kp, Ki, Kd, source, output, kDefaultPeriod, autodisable);
 	}
 	public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period, boolean autodisable) {
 		super(Kp, Ki, Kd, source, output, period);
 		this.autodisable = autodisable;
-		enabled = this.isEnabled();
+		this.enabled = this.isEnabled();
 		this.source = source;
 		this.output = output;
 	}
 
-	/* Mimic the four PIDController constructors *******************/
+	/* Mimic the four PIDController constructors **************************/
 
-	public void setSetpoint(double output) {
+	public synchronized void setSetpoint(double output) {
 		if ((output == 0) && autodisable) {
 			disable();
 			enabled = false;
@@ -90,12 +86,14 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement
 		}
 	}
 
-	/* Implement PIDOutput (a parent of SpeedController) */
+	/* Implement PIDOutput (a parent of SpeedController) *******************/
+
 	public void pidWrite(double output) {
 		setSetpoint(output);
 	}
 
-	/* Implement SpeedController */
+	/* Implement SpeedController *******************************************/
+
 	public void set(double output) {
 		setSetpoint(output);
 	}