diff options
Diffstat (limited to 'src/org/mckenzierobotics/lib/robot/PIDOutputSplitter.java')
| -rw-r--r-- | src/org/mckenzierobotics/lib/robot/PIDOutputSplitter.java | 80 |
1 files changed, 0 insertions, 80 deletions
diff --git a/src/org/mckenzierobotics/lib/robot/PIDOutputSplitter.java b/src/org/mckenzierobotics/lib/robot/PIDOutputSplitter.java deleted file mode 100644 index c689bab..0000000 --- a/src/org/mckenzierobotics/lib/robot/PIDOutputSplitter.java +++ /dev/null @@ -1,80 +0,0 @@ -/** - * 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.mckenzierobotics.lib.robot; - -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(); - } -} |