From 130adae48814f84fe538e2d7e53090366cef19b4 Mon Sep 17 00:00:00 2001 From: Luke Shumaker Date: Wed, 27 Jan 2016 21:44:37 -0500 Subject: implement PIDNanny --- .../usfirst/frc/team4272/robotlib/PIDNanny.java | 68 ++++++++++++++++++++++ 1 file changed, 68 insertions(+) create mode 100644 src/org/usfirst/frc/team4272/robotlib/PIDNanny.java diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDNanny.java b/src/org/usfirst/frc/team4272/robotlib/PIDNanny.java new file mode 100644 index 0000000..000adef --- /dev/null +++ b/src/org/usfirst/frc/team4272/robotlib/PIDNanny.java @@ -0,0 +1,68 @@ +/* + * Copyright (c) 2016 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 + */ +package org.usfirst.frc.team4272.robotlib; + +import edu.wpi.first.wpilibj.PIDOutput; + +/** + * A PIDOutput that turns a specified value into {@code NaN}. + */ +public class PIDNanny implements PIDOutput { + private final PIDOutput out; + private final double sentinel; + + /** + * Allocate a PIDNanny that wraps {@code out} and turns + * {@code sentinel} into {@link Double#NaN}. + * + * @param out The actual PIDOutput to write to. + * @param sentinel The value to replace with NaN. + */ + public PIDNanny(PIDOutput out, double sentinel) { + this.out = out; + this.sentinel = sentinel; + } + + /** + * A convenience constructor with {@code sentinel} defaulting + * to {@code 0.0}. + * + * @param out The actual PIDOutput to write to. + */ + public PIDNanny(PIDOutput out) { + this(out, 0.0); + } + + public void pidWrite(double v) { + if (v == sentinel) { + v = Double.NaN; + } + out.pidWrite(v); + } +} -- cgit v1.2.3