1 files changed, 80 insertions, 0 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java b/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java
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+/**
+ * Copyright (c) 2011, 2012, 2015 Luke Shumaker
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the FIRST nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+
+package org.usfirst.frc.team4272.robotlib;
+
+import edu.wpi.first.wpilibj.PIDOutput;
+
+/**
+ * TODO: Write JavaDocs
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public class PIDOutputSplitter implements PIDOutput {
+	private final PIDOutput[] outputs;
+	private final double[] scalars;
+
+	public PIDOutputSplitter(PIDOutput[] outputs, double[] scalars) {
+		this.outputs = outputs;
+		this.scalars = scalars;
+		if (outputs.length != scalars.length) {
+			throw new RuntimeException("outputs and scalars must be same len");
+		}
+	}
+
+	public PIDOutputSplitter(PIDOutput... outputs) {
+		double[] s = new double[outputs.length];
+		for (int i=0; i<s.length; i++) {
+			s[i]=1;
+		}
+		this.outputs = outputs;
+		this.scalars = s;
+	}
+
+	public void pidWrite(double output) {
+		for(int i=0; i<outputs.length; i++) {
+			try {
+				outputs[i].pidWrite(output*scalars[i]);
+			} catch (Exception e) {
+				error(e);
+			}
+		}
+	}
+
+	/**
+	 * Handles exceptions from pidWrite().
+	 *
+	 * By default it writes to System.out; you may extend+override this to
+	 * change the behavior.
+	 *
+	 * @param e Exception
+	 */
+	public void error(Exception e) {
+		e.printStackTrace();
+	}
+}