From a07b8d0a24a2c3c66978d8199604219a0ed8bcc8 Mon Sep 17 00:00:00 2001
From: Luke Shumaker <lukeshu@sbcglobal.net>
Date: Wed, 27 Jan 2016 21:45:04 -0500
Subject: clean up PIDController

---
 .../frc/team4272/robotlib/PIDController.java       | 44 ++++++++++++++--------
 1 file changed, 29 insertions(+), 15 deletions(-)

diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDController.java b/src/org/usfirst/frc/team4272/robotlib/PIDController.java
index 14c26ce..13f5666 100644
--- a/src/org/usfirst/frc/team4272/robotlib/PIDController.java
+++ b/src/org/usfirst/frc/team4272/robotlib/PIDController.java
@@ -41,17 +41,14 @@ import edu.wpi.first.wpilibj.SpeedController;
 /**
  * An enhanced variant of {@link edu.wpi.first.wpilibj.PIDController wpilibj PIDController}
  * (implements a PID Control Loop).
- *
+ * <p>
  * It is enhanced from
  * {@link edu.wpi.first.wpilibj.PIDController wpilibj PIDController}
  * in that it that also:
- *
  * <ul>
  *  <li> implements SpeedController (and therefore PIDOutput)
- *  <li> has auto-enable/disable functionality to avoid "locking" the
- *       motor when the setpoint is 0.
- *
- * @author Luke Shumaker <lukeshu@sbcglobal.net>
+ *  <li> disables self if the setpoint is NaN (see {@link PIDNanny}).
+ * </ul>
  */
 public class PIDController extends edu.wpi.first.wpilibj.PIDController implements SpeedController {
 	private boolean NaNDisabled = false;
@@ -86,6 +83,15 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement
 	/**
 	 * Convenience constructor with {@code Kf} defaulting to
 	 * {@code 0.0}.
+	 *
+	 * @param Kp the proportional coefficient
+	 * @param Ki the integral coefficient
+	 * @param Kd the derivative coefficient
+	 * @param source The PIDSource object that is used to get values
+	 * @param output The PIDOutput object that is set to the output percentage
+	 * @param period the loop time for doing calculations. This particularly
+	 *        effects calculations of the integral and differential terms. The
+	 *        default is 50ms.
 	 */
 	public PIDController(double Kp, double Ki, double Kd,
 	                     PIDSource source, PIDOutput output,
@@ -96,6 +102,13 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement
 	/**
 	 * Convenience constructor with {@code period} defaulting to
 	 * {@link #kDefaultPeriod}.
+	 *
+	 * @param Kp the proportional coefficient
+	 * @param Ki the integral coefficient
+	 * @param Kd the derivative coefficient
+	 * @param Kf the feed forward term
+	 * @param source The PIDSource object that is used to get values
+	 * @param output The PIDOutput object that is set to the output percentage
 	 */
 	public PIDController(double Kp, double Ki, double Kd, double Kf,
 	                     PIDSource source, PIDOutput output) {
@@ -106,6 +119,12 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement
 	 * Convenience constructor with {@code Kf} defaulting to
 	 * {@code 0.0}, and {@code period} defaulting to
 	 * {@link #kDefaultPeriod}.
+	 *
+	 * @param Kp the proportional coefficient
+	 * @param Ki the integral coefficient
+	 * @param Kd the derivative coefficient
+	 * @param source The PIDSource object that is used to get values
+	 * @param output The PIDOutput object that is set to the output percentage
 	 */
 	public PIDController(double Kp, double Ki, double Kd,
 	                     PIDSource source, PIDOutput output) {
@@ -169,15 +188,10 @@ public class PIDController extends edu.wpi.first.wpilibj.PIDController implement
 	}
 
 	/**
-	 * Don't use this; it is leaking up from
-	 * {@link edu.wpi.first.wpilibj.CANJaguar CANJaguar} through
-	 * {@link edu.wpi.first.wpilibj.SpeedController SpeedController}
-	 *
-	 * @param output
-	 * @param syncGroup
-	 *
-	 * @deprecated Don't use this, it is leaking up from
-	 *   {@link edu.wpi.first.wpilibj.CANJaguar CANJaguar}
+	 * Don't use this.
+	 * @deprecated Don't use this; it is leaking up from
+	 *   {@link edu.wpi.first.wpilibj.CANJaguar} through
+	 *   {@link edu.wpi.first.wpilibj.SpeedController}
 	 */
 	@Override
 	public void set(double output, byte syncGroup) {
-- 
cgit v1.2.3