diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java b/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java index aa3aeaf..695d418 100644 --- a/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java +++ b/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java @@ -9,7 +9,7 @@ public class LimitSwitchedPIDOutput implements PIDOutput { private final DigitalInput bakward; private final boolean for_pressed; private final boolean bak_pressed; - + public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, boolean for_pressed, DigitalInput backward, boolean back_pressed) { @@ -19,11 +19,11 @@ public class LimitSwitchedPIDOutput implements PIDOutput { this.for_pressed = for_pressed; this.bak_pressed = back_pressed; } - + public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, DigitalInput backward) { this(out, forward, true, backward, true); } - + public void pidWrite(double v) { if (forward.get() == for_pressed) { v = Math.min(v, 0); } if (bakward.get() == bak_pressed) { v = Math.max(v, 0); } |