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/*
* 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 <lukeshu@sbcglobal.net>
*/
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);
}
}
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