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/**
* Copyright (c) 2011-2012, 2015-2016 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 <lukeshu@sbcglobal.net>
*/
package org.usfirst.frc.team4272.robotlib;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.SpeedController;
//import edu.wpi.first.wpilibj.PIDController;
/**
* TODO: Write JavaDocs
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
public class PIDController extends edu.wpi.first.wpilibj.PIDController implements SpeedController {
private boolean autodisable = false;
/**
* Default to true, so if we don't use autodisable, we don't enable when we
* shouldn't, as we will think it's already enabled.
*/
private boolean enabled = true;
public final PIDSource source;
public final PIDOutput output;
public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output) {
super(Kp, Ki, Kd, source, output);
this.source = source;
this.output = output;
}
public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output, double period) {
super(Kp, Ki, Kd, source, output, period);
this.source = source;
this.output = output;
}
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.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.isEnabled();
this.source = source;
this.output = output;
}
public void setSetpoint(double output) {
if ((output == 0) && autodisable) {
disable();
enabled = false;
} else {
if (!enabled) {
enable();
enabled = true;
}
super.setSetpoint(output);
}
}
public void pidWrite(double output) {
setSetpoint(output);
}
public void set(double output) {
setSetpoint(output);
}
/**
* Don't use this; it is leaking up from CANJaguar
* @param output
* @param syncGroup
*/
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;
}
}
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