1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
|
/**
* Copyright (c) 2011-2012, 2015 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;
/**
* TODO: Write JavaDocs
*/
public class PIDOutputSplitter implements PIDOutput {
private final PIDOutput[] outputs;
private final double[] scalars;
public PIDOutputSplitter(PIDOutput[] outputs, double[] scalars) {
this.outputs = outputs;
this.scalars = scalars;
if (outputs.length != scalars.length) {
throw new RuntimeException("outputs and scalars must be same len");
}
}
public PIDOutputSplitter(PIDOutput... outputs) {
double[] s = new double[outputs.length];
for (int i=0; i<s.length; i++) {
s[i]=1;
}
this.outputs = outputs;
this.scalars = s;
}
public void pidWrite(double output) {
for(int i=0; i<outputs.length; i++) {
try {
outputs[i].pidWrite(output*scalars[i]);
} catch (Exception e) {
error(e);
}
}
}
/**
* Handles exceptions from pidWrite().
*
* By default it writes to System.out; you may extend+override this to
* change the behavior.
*
* @param e Exception
*/
public void error(Exception e) {
e.printStackTrace();
}
}
|
