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/**
* Copyright (c) 2011-2012, 2015, 2017 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;
/**
* PIDOutputSplitter sets a single setpoint on many underlying {@link PIDOutput}s.
*
* Because it is undesirable that an exception from one underlying
* PIDOutput prevent the others from receiving the value; rather than
* letting an exception be thrown normally, it is handle by the
* {@link error(Exception)} method--see the documentation there for
* advanced error handling.
*/
public class PIDOutputSplitter implements PIDOutput {
private final PIDOutput[] outputs;
private final double[] scalars;
/**
* Construct with a scalar for each underlying output. If the
* length of the arrays do not match, a
* {@link RuntimeException} is thrown.
*
* @param outputs The underlying PIDOutputs that are written
* to.
* @param scalars How much to scale the setpoint written to
* each output by.
*/
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");
}
}
/**
* Construct a PIDOutputSplitter that applies no scaling.
*
* @param outputs The underlying PIDOutputs that are written
* to.
*/
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();
}
}
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