diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robotlib/PIDController.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robotlib/PIDController.java | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDController.java b/src/org/usfirst/frc/team4272/robotlib/PIDController.java index 0fd53d9..965851d 100644 --- a/src/org/usfirst/frc/team4272/robotlib/PIDController.java +++ b/src/org/usfirst/frc/team4272/robotlib/PIDController.java @@ -46,6 +46,9 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement private boolean enabled = true; public final PIDSource source; public final PIDOutput output; + + /* Mimic the four PIDController constructors *******************/ + public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output) { super(Kp, Ki, Kd, source, output); this.source = source; @@ -72,6 +75,8 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement this.output = output; } + /* Mimic the four PIDController constructors *******************/ + public void setSetpoint(double output) { if ((output == 0) && autodisable) { disable(); @@ -85,10 +90,12 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement } } + /* Implement PIDOutput (a parent of SpeedController) */ public void pidWrite(double output) { setSetpoint(output); } + /* Implement SpeedController */ public void set(double output) { setSetpoint(output); } |