From 75c2407dd85a69b8f80e9b376da1bfb9ed0bb173 Mon Sep 17 00:00:00 2001
From: Luke Shumaker <lukeshu@sbcglobal.net>
Date: Sat, 16 Jan 2016 12:51:47 -0500
Subject: (mostly) update to new WPIlib.

PIDController has some TODOs in there
---
 src/org/mckenzierobotics/lib/robot/FeedForward.java   |  2 +-
 src/org/mckenzierobotics/lib/robot/PIDController.java | 14 ++++++++++++--
 src/org/mckenzierobotics/lib/robot/RollingAvg.java    | 19 +++++++++++++++++--
 src/org/usfirst/frc/team4272/robot2016/HwRobot.java   |  8 ++++----
 4 files changed, 34 insertions(+), 9 deletions(-)

diff --git a/src/org/mckenzierobotics/lib/robot/FeedForward.java b/src/org/mckenzierobotics/lib/robot/FeedForward.java
index a275366..a18dccc 100644
--- a/src/org/mckenzierobotics/lib/robot/FeedForward.java
+++ b/src/org/mckenzierobotics/lib/robot/FeedForward.java
@@ -64,7 +64,7 @@ public abstract class FeedForward implements PIDOutput {
 	}
 	
 	public void update(double pidResult) {
-		if (pid.isEnable()) {
+		if (pid.isEnabled()) {
 			double ffResult = calculate(pid.getSetpoint());
 			pidOutput.pidWrite(ffResult+pidResult);
 		} else {
diff --git a/src/org/mckenzierobotics/lib/robot/PIDController.java b/src/org/mckenzierobotics/lib/robot/PIDController.java
index dc2301a..e2f8087 100644
--- a/src/org/mckenzierobotics/lib/robot/PIDController.java
+++ b/src/org/mckenzierobotics/lib/robot/PIDController.java
@@ -60,14 +60,14 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement
 	public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, boolean autodisable) {
 		super(Kp, Ki, Kd, source, output);
 		this.autodisable = autodisable;
-		enabled = this.isEnable();
+		enabled = this.isEnabled();
 		this.source = source;
 		this.output = output;
 	}
 	public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period, boolean autodisable) {
 		super(Kp, Ki, Kd, source, output, period);
 		this.autodisable = autodisable;
-		enabled = this.isEnable();
+		enabled = this.isEnabled();
 		this.source = source;
 		this.output = output;
 	}
@@ -101,4 +101,14 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement
 	public void set(double output, byte syncGroup) {
 		setSetpoint(output);
 	}
+
+	public void setInverted(boolean isInverted) {
+		// TODO Auto-generated method stub
+
+	}
+
+	public boolean getInverted() {
+		// TODO Auto-generated method stub
+		return false;
+	}
 }
diff --git a/src/org/mckenzierobotics/lib/robot/RollingAvg.java b/src/org/mckenzierobotics/lib/robot/RollingAvg.java
index fcbf8e4..d73f64e 100644
--- a/src/org/mckenzierobotics/lib/robot/RollingAvg.java
+++ b/src/org/mckenzierobotics/lib/robot/RollingAvg.java
@@ -30,6 +30,7 @@
 package org.mckenzierobotics.lib.robot;
 
 import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.PIDOutput;
 
 /**
@@ -65,11 +66,25 @@ public class RollingAvg implements PIDSource, PIDOutput {
 	}
 
 	public double pidGet() {
-		if (source!=null) return push(source.pidGet());
-		return get();
+		if (source!=null)
+			return push(source.pidGet());
+		else
+			return get();
 	}
 	
 	public void pidWrite(double output) {
 		push(output);
 	}
+
+	public void setPIDSourceType(PIDSourceType srcType) {
+		if (source!=null)
+			source.setPIDSourceType(srcType);
+	}
+
+	public PIDSourceType getPIDSourceType() {
+		if (source!=null)
+			return source.getPIDSourceType();
+		else
+			return null;
+	}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index a1072dc..27e64d8 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -7,7 +7,7 @@ import org.usfirst.frc.team4272.robotlib.LimitSwitchedPIDOutput;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PIDOutput;
-import edu.wpi.first.wpilibj.PIDSource.PIDSourceParameter;
+import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.Talon;
 
@@ -48,9 +48,9 @@ public class HwRobot {
 	private Relay rIntake = new Relay(/*Relay*/0, Relay.Direction.kBoth);
 
 	public HwRobot() {
-		lDriveE.setPIDSourceParameter(PIDSourceParameter.kRate);
-		rDriveE.setPIDSourceParameter(PIDSourceParameter.kRate);
-		winchE.setPIDSourceParameter(PIDSourceParameter.kRate);
+		lDriveE.setPIDSourceType(PIDSourceType.kRate);
+		rDriveE.setPIDSourceType(PIDSourceType.kRate);
+		winchE.setPIDSourceType(PIDSourceType.kRate);
 	}
 
 	public void run(Control c) {
-- 
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