1 files changed, 42 insertions, 0 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/SendablePIDOutput.java b/src/org/usfirst/frc/team4272/robotlib/SendablePIDOutput.java
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+++ b/src/org/usfirst/frc/team4272/robotlib/SendablePIDOutput.java
@@ -0,0 +1,42 @@
+/**
+ * Copyright (c) 2012, 2015 Precise Path Robotics, Inc
+ *
+ * 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
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+
+package org.usfirst.frc.team4272.robotlib;
+
+import edu.wpi.first.wpilibj.PIDOutput;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ *
+ * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ */
+public class SendablePIDOutput implements PIDOutput {
+	PIDOutput o;
+	String n;
+
+	public SendablePIDOutput(String name, PIDOutput out) {
+		n = name;
+		o = out;
+	}
+
+	public void pidWrite(double val) {
+		o.pidWrite(val);
+		SmartDashboard.putNumber(n, val);
+	}
+}