Merge "Adds missing Javadocs and @Overrides annotations to the PIDController in Java"

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDController.java

@@ -6,7 +6,6 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.parsing.IUtility;
 import edu.wpi.first.wpilibj.tables.ITable;
@@ -62,7 +61,8 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
             percentage = value;
         }
 
-        public boolean onTarget() {
+        @Override
+		public boolean onTarget() {
             return (Math.abs(getError()) < percentage / 100
                     * (m_maximumInput - m_minimumInput));
         }
@@ -75,20 +75,22 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
             this.value = value;
         }
 
-        public boolean onTarget() {
+        @Override
+		public boolean onTarget() {
             return Math.abs(getError()) < value;
         }
     }
 
     public class NullTolerance implements Tolerance {
 
-        public boolean onTarget() {
+        @Override
+		public boolean onTarget() {
             throw new RuntimeException("No tolerance value set when using PIDController.onTarget()");
         }
     }
 
     private class PIDTask implements Runnable {
-        private PIDController m_controller;
+        private final PIDController m_controller;
 
         public PIDTask(PIDController controller) {
             if (controller == null) {
@@ -97,7 +99,8 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
             m_controller = controller;
         }
 
-        public void run() {
+        @Override
+		public void run() {
         	while (!m_controller.m_freed) {
         		m_controller.calculate();
         		Timer.delay(m_controller.m_period);
@@ -145,12 +148,13 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
 
     /**
      * Allocate a PID object with the given constants for P, I, D and period
-     * @param Kp
-     * @param Ki
-     * @param Kd
-     * @param source
-     * @param output
-     * @param period
+     * @param Kp the proportional coefficient
+     * @param Ki the integral coefficient
+     * @param Kd the derivative coefficient
+     * @param source the PIDSource object that is used to get values
+     * @param output the PIDOutput object that is set to the output percentage
+     * @param period the loop time for doing calculations. This particularly effects calculations of the
+     * integral and differential terms. The default is 50ms.
      */
     public PIDController(double Kp, double Ki, double Kd,
                          PIDSource source, PIDOutput output,
@@ -176,6 +180,7 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
      * @param Kp the proportional coefficient
      * @param Ki the integral coefficient
      * @param Kd the derivative coefficient
+     * @param Kf the feed forward term
      * @param source The PIDSource object that is used to get values
      * @param output The PIDOutput object that is set to the output percentage
      */
@@ -440,7 +445,8 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
      * @param percent error which is tolerable
      * @deprecated Use {@link #setPercentTolerance(double) or {@link #setAbsoluteTolerance(double)} instead.
      */
-    public synchronized void setTolerance(double percent) {
+    @Deprecated
+	public synchronized void setTolerance(double percent) {
         m_tolerance = new PercentageTolerance(percent);
     }
 
@@ -475,7 +481,8 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
     /**
      * Begin running the PIDController
      */
-    public synchronized void enable() {
+    @Override
+	public synchronized void enable() {
         m_enabled = true;
 
         if (table != null) {
@@ -486,7 +493,8 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
     /**
      * Stop running the PIDController, this sets the output to zero before stopping.
      */
-    public synchronized void disable() {
+    @Override
+	public synchronized void disable() {
         m_pidOutput.pidWrite(0);
         m_enabled = false;
 
@@ -512,12 +520,14 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
         m_result = 0;
     }
 
-    public String getSmartDashboardType() {
+    @Override
+	public String getSmartDashboardType() {
         return "PIDController";
     }
 
-    private ITableListener listener = new ITableListener() {
-        public void valueChanged(ITable table, String key, Object value, boolean isNew) {
+    private final ITableListener listener = new ITableListener() {
+        @Override
+		public void valueChanged(ITable table, String key, Object value, boolean isNew) {
             if (key.equals("p") || key.equals("i") || key.equals("d") || key.equals("f")) {
                 if (m_P != table.getNumber("p", 0.0) || m_I != table.getNumber("i", 0.0) ||
                         m_D != table.getNumber("d", 0.0) || m_F != table.getNumber("f", 0.0))
@@ -537,7 +547,8 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
         }
     };
     private ITable table;
-    public void initTable(ITable table) {
+    @Override
+	public void initTable(ITable table) {
         if(this.table!=null)
             this.table.removeTableListener(listener);
         this.table = table;
@@ -555,26 +566,30 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
     /**
      * {@inheritDoc}
      */
-    public ITable getTable() {
+    @Override
+	public ITable getTable() {
         return table;
     }
 
     /**
      * {@inheritDoc}
      */
-    public void updateTable() {
+    @Override
+	public void updateTable() {
     }
 
     /**
      * {@inheritDoc}
      */
-    public void startLiveWindowMode() {
+    @Override
+	public void startLiveWindowMode() {
         disable();
     }
 
     /**
      * {@inheritDoc}
      */
-    public void stopLiveWindowMode() {
+    @Override
+	public void stopLiveWindowMode() {
     }
 }