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/**
* TODO: copyright
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
package org.usfirst.frc.team4272.robotlib;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.PIDOutput;
/**
* TODO: Write JavaDocs
*/
public class LimitSwitchedPIDOutput implements PIDOutput {
private final PIDOutput out;
private final DigitalInput forward;
private final DigitalInput bakward;
private final boolean for_pressed;
private final boolean bak_pressed;
public LimitSwitchedPIDOutput(PIDOutput out,
DigitalInput forward, boolean for_pressed,
DigitalInput backward, boolean back_pressed) {
this.out = out;
this.forward = forward;
this.bakward = backward;
this.for_pressed = for_pressed;
this.bak_pressed = back_pressed;
}
public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, DigitalInput backward) {
this(out, forward, true, backward, true);
}
public void pidWrite(double v) {
if (forward.get() == for_pressed) { v = Math.min(v, 0); }
if (bakward.get() == bak_pressed) { v = Math.max(v, 0); }
out.pidWrite(v);
}
}
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