diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java | 20 |
1 files changed, 18 insertions, 2 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java b/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java index 8d314b0..91d059c 100644 --- a/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java +++ b/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java @@ -1,5 +1,5 @@ /** - * Copyright (c) 2015 Luke Shumaker. + * Copyright (c) 2015, 2017 Luke Shumaker. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -32,7 +32,8 @@ import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.PIDOutput; /** - * TODO: Write JavaDocs + * LimitSwitchedPIDOutput wraps a {@link PIDOutput}, ensuring that it + * does not go in a direction if a limit switch is tripped. */ public class LimitSwitchedPIDOutput implements PIDOutput { private final PIDOutput out; @@ -41,6 +42,13 @@ public class LimitSwitchedPIDOutput implements PIDOutput { private final boolean for_pressed; private final boolean bak_pressed; + /** + * @param out The actual PIDOutput to write to. + * @param forward The forward (positive-direction) limit switch. + * @param for_pressed Which value from the forward switch is to be considered "pressed". + * @param backward The backward (negative-direction) limit switch. + * @param back_pressed Which value from the backward switch is to be considered "pressed". + */ public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, boolean for_pressed, DigitalInput backward, boolean back_pressed) { @@ -51,6 +59,14 @@ public class LimitSwitchedPIDOutput implements PIDOutput { this.bak_pressed = back_pressed; } + /** + * Like the full constructor, but assume that {@code true} + * indicates "pressed" for both switches. + * + * @param out The actual PIDOutput to write to. + * @param forward The forward (positive-direction) limit switch. + * @param backward The backward (negative-direction) limit switch. + */ public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, DigitalInput backward) { this(out, forward, true, backward, true); } |