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Simplified PIDSensor #200

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Simplified PIDSensor #200

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3d299f1
Added default for PIDSensor pidGetSafely
carturn Mar 26, 2017
90b1d45
Made PIDSensor extend PIDSource
carturn Mar 26, 2017
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44 changes: 7 additions & 37 deletions custom/sensors/PIDSensor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,42 +4,17 @@
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;

public interface PIDSensor {
/**
* Set which parameter of the device you are using as a process control
* variable.
*
* @param pidSource
* An enum to select the parameter.
*/
public void setPIDSourceType(PIDSourceType pidSource);

/**
* Get which parameter of the device you are using as a process control
* variable.
*
* @return the currently selected PID source parameter
*/
public PIDSourceType getPIDSourceType();

public interface PIDSensor extends PIDSource {
/**
* Get the result to use in PIDController
* $
*
* @return the result to use in PIDController
* @warning does not report sensor errors, will just return 0
*/
public double pidGet();

/**
* Get the result to use in PIDController
* $
*
* @return the result to use in PIDController
* @throws InvalidSensorException
* when sensor data should not be used for PID due to potential inaccuracy
*/
public double pidGetSafely() throws InvalidSensorException;
default public double pidGetSafely() throws InvalidSensorException {
return pidGet();
}

/**
* Class to wrap a PIDSource to a PIDSensor
Expand All @@ -51,22 +26,17 @@ public static class PIDSourceWrapper implements PIDSensor {
public PIDSourceWrapper(PIDSource source) {
this.source = source;
}

@Override
public void setPIDSourceType(PIDSourceType pidSource) {
source.setPIDSourceType(pidSource);
}

@Override
public PIDSourceType getPIDSourceType() {
return source.getPIDSourceType();
}

@Override
public double pidGetSafely() throws InvalidSensorException { // No exception possible anyway
return source.pidGet();
}


@Override
public double pidGet() {
return source.pidGet();
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