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/**
* Copyright (c) 2012 Precise Path Robotics, Inc
* Copyright (c) 2015, 2017 Luke Shumaker
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
package org.usfirst.frc.team4272.robotlib;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* SendablePIDOutput wraps a {@link PIDOutput}, sending the setpoint
* to the {@link SmartDashboard}; which is useful for debugging.
*/
public class SendablePIDOutput implements PIDOutput {
PIDOutput o;
String n;
/**
* @param name The name of the value in the SmartDashboard.
* @param out The actual PIDOutput to write to.
*/
public SendablePIDOutput(String name, PIDOutput out) {
n = name;
o = out;
}
public void pidWrite(double val) {
o.pidWrite(val);
SmartDashboard.putNumber(n, val);
}
}
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