mv src/org/mkenzierobotics/lib/robot/* src/org/usfirst/frc/team4272/robotlib

9 files changed, 626 insertions, 0 deletions

diff --git a/src/org/usfirst/frc/team4272/robotlib/CommandBase.java b/src/org/usfirst/frc/team4272/robotlib/CommandBase.java
new file mode 100644
index 0000000..0519a2a
--- /dev/null
+++ b/src/org/usfirst/frc/team4272/robotlib/CommandBase.java
@@ -0,0 +1,73 @@
+/**
+ * CommandBase - defines robot hardware; superclass of all commands.
+ *
+ * Copyright (c) FIRST 2008. All Rights Reserved.
+ * Open Source Software - may be modified and shared by FRC teams. The code
+ * must be accompanied by the FIRST BSD license file in the root directory of
+ * the project.
+ *
+ * Copyright (c) 2012 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.CANJaguar;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * The base for all commands, also the class defining robot hardware/config.
+ * All atomic commands should subclass CommandBase. CommandBase stores creates
+ * and stores each control system.
+ *
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public abstract class CommandBase extends Command {
+
+	private boolean has_subsystems = true;
+	protected synchronized void requires(Subsystem subsystem) {
+		if (subsystem == null) {
+			has_subsystems = false;
+		}
+		super.requires(subsystem);
+	}
+
+	public synchronized void start() {
+		if (has_subsystems) { super.start(); }
+	}
+
+	/**
+	 * Instantiate a CANJaguar, handling exceptions.
+	 *
+	 * @param id CANJaguar ID to use.
+	 * @return the CANJaguar
+	 */
+	public static CANJaguar getJaguar(int id) {
+		CANJaguar ret = null;
+		try {
+			ret = new CANJaguar(id);
+		} catch(Exception e) {
+			e.printStackTrace();
+		}
+		return ret;
+	}
+
+	public CommandBase() { super(); }
+	public CommandBase(double timeout) { super(timeout); }
+	public CommandBase(String name) { super(name); }
+	public CommandBase(String name, double timeout) { super(name, timeout); }
+}
diff --git a/src/org/usfirst/frc/team4272/robotlib/CommandRobot.java b/src/org/usfirst/frc/team4272/robotlib/CommandRobot.java
new file mode 100644
index 0000000..306a09e
--- /dev/null
+++ b/src/org/usfirst/frc/team4272/robotlib/CommandRobot.java
@@ -0,0 +1,65 @@
+/**
+ * CommandFramework base class for FRC 1024.
+ *
+ * Copyright (c) 2012 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.IterativeRobot;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Scheduler;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the IterativeRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ *
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public abstract class CommandRobot extends IterativeRobot {
+
+	protected Command autonomousCommand;
+	protected Command teleopCommand;
+
+	public abstract void robotInit();
+
+	public void autonomousInit() {
+		autonomousCommand.start();
+	}
+
+	public void autonomousPeriodic() {
+		Scheduler.getInstance().run();
+	}
+
+	public void teleopInit() {
+		autonomousCommand.cancel();
+		teleopCommand.start();
+	}
+
+	public void teleopPeriodic() {
+		Scheduler.getInstance().run();
+	}
+
+	public void disabledInit() {
+		autonomousCommand.cancel();
+		teleopCommand.cancel();
+	}
+}
diff --git a/src/org/usfirst/frc/team4272/robotlib/FeedForward.java b/src/org/usfirst/frc/team4272/robotlib/FeedForward.java
new file mode 100644
index 0000000..00b2d14
--- /dev/null
+++ b/src/org/usfirst/frc/team4272/robotlib/FeedForward.java
@@ -0,0 +1,76 @@
+/**
+ * Copyright (c) 2012 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.PIDSource;
+
+/**
+ *
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public abstract class FeedForward implements PIDOutput {
+	private class PIDTrigger implements PIDOutput {
+		private FeedForward ff;
+		public PIDTrigger(FeedForward ff) {
+			this.ff = ff;
+		}
+		public void pidWrite(double output) {
+			ff.update(output);
+		}
+	}
+	private PIDController pid;
+	private PIDOutput pidOutput;
+	public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output) {
+		pidOutput = output;
+		pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this));
+	}
+	public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period) {
+		pidOutput = output;
+		pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), period);
+	}
+
+	public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, boolean autodisable) {
+		pidOutput = output;
+		pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), autodisable);
+	}
+	public FeedForward(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period, boolean autodisable) {
+		pidOutput = output;
+		pid = new PIDController(Kp, Ki, Kd, source, new PIDTrigger(this), period, autodisable);
+	}
+
+	public PIDController getPID() {
+		return pid;
+	}
+
+	public void pidWrite(double output) {
+		pid.setSetpoint(output);
+	}
+
+	public void update(double pidResult) {
+		if (pid.isEnabled()) {
+			double ffResult = calculate(pid.getSetpoint());
+			pidOutput.pidWrite(ffResult+pidResult);
+		} else {
+			pidOutput.pidWrite(0);
+		}
+	}
+
+	public abstract double calculate(double setpoint);
+}
diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDController.java b/src/org/usfirst/frc/team4272/robotlib/PIDController.java
new file mode 100644
index 0000000..3a867bb
--- /dev/null
+++ b/src/org/usfirst/frc/team4272/robotlib/PIDController.java
@@ -0,0 +1,114 @@
+/**
+ * Copyright (c) 2011, 2012, 2015 Luke Shumaker
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the FIRST nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+package org.usfirst.frc.team4272.robotlib;
+
+import edu.wpi.first.wpilibj.PIDOutput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.SpeedController;
+//import edu.wpi.first.wpilibj.PIDController;
+
+/**
+ * TODO: Write JavaDocs
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public class PIDController extends edu.wpi.first.wpilibj.PIDController implements SpeedController {
+	private boolean autodisable = false;
+	/**
+	 * Default to true, so if we don't use autodisable, we don't enable when we
+	 * shouldn't, as we will think it's already enabled.
+	 */
+	private boolean enabled = true;
+	public final PIDSource source;
+	public final PIDOutput output;
+	public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output) {
+		super(Kp, Ki, Kd, source, output);
+		this.source = source;
+		this.output = output;
+	}
+	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;
+	}
+
+	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;
+	}
+	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.source = source;
+		this.output = output;
+	}
+
+	public void setSetpoint(double output) {
+		if ((output == 0) && autodisable) {
+			disable();
+			enabled = false;
+		} else {
+			if (!enabled) {
+				enable();
+				enabled = true;
+			}
+			super.setSetpoint(output);
+		}
+	}
+
+	public void pidWrite(double output) {
+		setSetpoint(output);
+	}
+
+	public void set(double output) {
+		setSetpoint(output);
+	}
+
+	/**
+	 * Don't use this; it is leaking up from CANJaguar
+	 * @param output
+	 * @param syncGroup
+	 */
+	public void set(double output, byte syncGroup) {
+		setSetpoint(output);
+	}
+
+	public void setInverted(boolean isInverted) {
+		// TODO Auto-generated method stub
+
+	}
+
+	public boolean getInverted() {
+		// TODO Auto-generated method stub
+		return false;
+	}
+}
diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java b/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java
new file mode 100644
index 0000000..c750659
--- /dev/null
+++ b/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java
@@ -0,0 +1,80 @@
+/**
+ * Copyright (c) 2011, 2012, 2015 Luke Shumaker
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the FIRST nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+
+package org.usfirst.frc.team4272.robotlib;
+
+import edu.wpi.first.wpilibj.PIDOutput;
+
+/**
+ * TODO: Write JavaDocs
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public class PIDOutputSplitter implements PIDOutput {
+	private final PIDOutput[] outputs;
+	private final double[] scalars;
+
+	public PIDOutputSplitter(PIDOutput[] outputs, double[] scalars) {
+		this.outputs = outputs;
+		this.scalars = scalars;
+		if (outputs.length != scalars.length) {
+			throw new RuntimeException("outputs and scalars must be same len");
+		}
+	}
+
+	public PIDOutputSplitter(PIDOutput... outputs) {
+		double[] s = new double[outputs.length];
+		for (int i=0; i<s.length; i++) {
+			s[i]=1;
+		}
+		this.outputs = outputs;
+		this.scalars = s;
+	}
+
+	public void pidWrite(double output) {
+		for(int i=0; i<outputs.length; i++) {
+			try {
+				outputs[i].pidWrite(output*scalars[i]);
+			} catch (Exception e) {
+				error(e);
+			}
+		}
+	}
+
+	/**
+	 * Handles exceptions from pidWrite().
+	 *
+	 * By default it writes to System.out; you may extend+override this to
+	 * change the behavior.
+	 *
+	 * @param e Exception
+	 */
+	public void error(Exception e) {
+		e.printStackTrace();
+	}
+}
diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDServo.java b/src/org/usfirst/frc/team4272/robotlib/PIDServo.java
new file mode 100644
index 0000000..2a19a51
--- /dev/null
+++ b/src/org/usfirst/frc/team4272/robotlib/PIDServo.java
@@ -0,0 +1,36 @@
+/**
+ * Copyright (c) 2012 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.Servo;
+import edu.wpi.first.wpilibj.PIDOutput;
+
+/**
+ * TODO: Write JavaDocs
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public class PIDServo extends Servo implements PIDOutput {
+	public PIDServo(int channel) {
+		super(channel);
+	}
+
+	public void pidWrite(double degrees) {
+		setAngle(getAngle()+degrees);
+	}
+}
diff --git a/src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java b/src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java
new file mode 100644
index 0000000..e54ae27
--- /dev/null
+++ b/src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java
@@ -0,0 +1,50 @@
+/**
+ * Copyright (c) 2012 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.Timer;
+
+/**
+ *
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public class RateLimitedPIDOutput implements PIDOutput {
+	PIDOutput o;
+	double m;
+	double prev_rate = 0;
+	double prev_time = 0;
+
+	public RateLimitedPIDOutput(PIDOutput out, double maxChange) {
+		o = out;
+		m = maxChange;
+	}
+
+	public void pidWrite(double rate) {
+		double time = Timer.getFPGATimestamp();
+		double dTime = time-prev_time;
+		double dRate = rate-prev_rate;
+		if (Math.abs(dRate/dTime)>m) {
+			int sign = (dRate<0?-1:1);
+			rate = prev_rate+(m*dTime*sign);
+		}
+		o.pidWrite(rate);
+	}
+}
diff --git a/src/org/usfirst/frc/team4272/robotlib/RollingAvg.java b/src/org/usfirst/frc/team4272/robotlib/RollingAvg.java
new file mode 100644
index 0000000..665e7bf
--- /dev/null
+++ b/src/org/usfirst/frc/team4272/robotlib/RollingAvg.java
@@ -0,0 +1,90 @@
+/**
+ * Copyright (c) 2011 Luke Shumaker
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the FIRST nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+
+package org.usfirst.frc.team4272.robotlib;
+
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+import edu.wpi.first.wpilibj.PIDOutput;
+
+/**
+ * TODO: Write JavaDocs
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public class RollingAvg implements PIDSource, PIDOutput {
+	private PIDSource source = null;
+	private double[] points;
+	private double avg;
+	private int i;
+
+	public RollingAvg(int len) {
+		points = new double[len];
+		i = 0;
+		avg = 0;
+	}
+	public RollingAvg(int len, PIDSource src) {
+		this(len);
+		source = src;
+	}
+
+	public double push(double v) {
+		avg -= points[i];
+		points[i] = v/points.length;
+		avg += points[i];
+		i++; i %= points.length;
+		return avg;
+	}
+
+	public double get() {
+		return avg;
+	}
+
+	public double pidGet() {
+		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;
+	}
+}
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);
+	}
+}