diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java | 26 |
1 files changed, 24 insertions, 2 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java b/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java index b9d19da..1c63b22 100644 --- a/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java +++ b/src/org/usfirst/frc/team4272/robotlib/PIDOutputSplitter.java @@ -1,5 +1,5 @@ /** - * Copyright (c) 2011-2012, 2015 Luke Shumaker + * Copyright (c) 2011-2012, 2015, 2017 Luke Shumaker * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -31,12 +31,28 @@ package org.usfirst.frc.team4272.robotlib; import edu.wpi.first.wpilibj.PIDOutput; /** - * TODO: Write JavaDocs + * PIDOutputSplitter sets a single setpoint on many underlying {@link PIDOutput}s. + * + * Because it is undesirable that an exception from one underlying + * PIDOutput prevent the others from receiving the value; rather than + * letting an exception be thrown normally, it is handle by the + * {@link error(Exception)} method--see the documentation there for + * advanced error handling. */ public class PIDOutputSplitter implements PIDOutput { private final PIDOutput[] outputs; private final double[] scalars; + /** + * Construct with a scalar for each underlying output. If the + * length of the arrays do not match, a + * {@link RuntimeException} is thrown. + * + * @param outputs The underlying PIDOutputs that are written + * to. + * @param scalars How much to scale the setpoint written to + * each output by. + */ public PIDOutputSplitter(PIDOutput[] outputs, double[] scalars) { this.outputs = outputs; this.scalars = scalars; @@ -45,6 +61,12 @@ public class PIDOutputSplitter implements PIDOutput { } } + /** + * Construct a PIDOutputSplitter that applies no scaling. + * + * @param outputs The underlying PIDOutputs that are written + * to. + */ public PIDOutputSplitter(PIDOutput... outputs) { double[] s = new double[outputs.length]; for (int i=0; i<s.length; i++) { |