diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java | 13 |
1 files changed, 12 insertions, 1 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java b/src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java index 70010c6..42121a5 100644 --- a/src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java +++ b/src/org/usfirst/frc/team4272/robotlib/RateLimitedPIDOutput.java @@ -1,5 +1,6 @@ /** * Copyright (c) 2012 Precise Path Robotics, Inc + * Copyright (c) 2017 Luke Shumaker * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -22,7 +23,12 @@ import edu.wpi.first.wpilibj.PIDOutput; import edu.wpi.first.wpilibj.Timer; /** - * TODO: Write JavaDocs + * RateLimitedPIDOutput wraps a {@link PIDOutput}, unsuring that the + * set value does not change too quickly. + * + * If the writer attempts to call {@link pidWrite(double)} with a + * value that is too different than the previous value; it will + * instead write a value that is closer to the previous value. */ public class RateLimitedPIDOutput implements PIDOutput { PIDOutput o; @@ -30,6 +36,11 @@ public class RateLimitedPIDOutput implements PIDOutput { double prev_rate = 0; double prev_time = 0; + /** + * @param out The actual PIDOutput to write to. + * @param maxChange the maximum amount that the setpoint can + * change by per second. + */ public RateLimitedPIDOutput(PIDOutput out, double maxChange) { o = out; m = maxChange; |