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[command] PIDSubsystem: Add GetSetpoint (#2534)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
sciencewhiz
2020-06-20 16:30:21 -07:00
committed by GitHub
parent dfb130270a
commit 27566abb06
3 changed files with 21 additions and 3 deletions
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11
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -61,6 +61,15 @@ public abstract class PIDSubsystem extends SubsystemBase {
m_setpoint = setpoint;
}
/**
* Returns the current setpoint of the subsystem.
*
* @return The current setpoint
*/
public double getSetpoint() {
return m_setpoint;
}
/**
* Uses the output from the PIDController.
*