diff options
Diffstat (limited to 'src/org/mckenzierobotics/lib/robot/RollingAvg.java')
| -rw-r--r-- | src/org/mckenzierobotics/lib/robot/RollingAvg.java | 19 |
1 files changed, 17 insertions, 2 deletions
diff --git a/src/org/mckenzierobotics/lib/robot/RollingAvg.java b/src/org/mckenzierobotics/lib/robot/RollingAvg.java index fcbf8e4..d73f64e 100644 --- a/src/org/mckenzierobotics/lib/robot/RollingAvg.java +++ b/src/org/mckenzierobotics/lib/robot/RollingAvg.java @@ -30,6 +30,7 @@ package org.mckenzierobotics.lib.robot; import edu.wpi.first.wpilibj.PIDSource; +import edu.wpi.first.wpilibj.PIDSourceType; import edu.wpi.first.wpilibj.PIDOutput; /** @@ -65,11 +66,25 @@ public class RollingAvg implements PIDSource, PIDOutput { } public double pidGet() { - if (source!=null) return push(source.pidGet()); - return get(); + 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; + } } |