diff options
Diffstat (limited to 'src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java')
| -rw-r--r-- | src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java | 50 |
1 files changed, 0 insertions, 50 deletions
diff --git a/src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java b/src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java deleted file mode 100644 index 10f01ce..0000000 --- a/src/org/mckenzierobotics/lib/robot/RateLimitedPIDOutput.java +++ /dev/null @@ -1,50 +0,0 @@ -/** - * 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.mckenzierobotics.lib.robot; - -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); - } -} |