1 files changed, 0 insertions, 77 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/FeedForward.java b/src/org/usfirst/frc/team4272/robotlib/FeedForward.java
deleted file mode 100644
index a387b5e..0000000
--- a/src/org/usfirst/frc/team4272/robotlib/FeedForward.java
+++ /dev/null
@@ -1,77 +0,0 @@
-/**
- * Copyright (c) 2012 Precise Path Robotics, Inc
- * Copyright (c) 2016 Luke Shumaker
- *
- * 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);
-}