diff options
Diffstat (limited to 'src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java')
| -rw-r--r-- | src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java b/src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java index ed36345..10f01ce 100644 --- a/src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java +++ b/src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java @@ -5,7 +5,7 @@ * 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 @@ -13,7 +13,7 @@ * * 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> */ @@ -31,12 +31,12 @@ public class RateLimitedPIDOutput implements PIDOutput { 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; |