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Remove SynchronousPID class (#1429)

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PR #1300 supersedes it, but won't be merged until the 2020 season. Since
SynchronousPID hasn't been used during a season, it would be best to
just remove it to avoid breakage when we deprecate and remove it again.
This commit is contained in:
Tyler Veness
2018-11-15 19:25:31 -08:00
committed by Peter Johnson
parent 55493b0c18
commit 63775362fe
3 changed files with 0 additions and 147 deletions
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69
wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousPID.java
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@@ -1,69 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
/**
* Class implements a synchronous PID control loop.
*
* <p>Provides a calculate method for the user to call at their desired update rate.
*/
public class SynchronousPID extends PIDBase {
/**
* Allocate a PID object with the given constants for P, I, and D.
*
* @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
*/
@SuppressWarnings("ParameterName")
public SynchronousPID(double Kp, double Ki, double Kd, PIDSource source, PIDOutput output) {
this(Kp, Ki, Kd, 0.0, source, output);
}
/**
* Allocate a PID object with the given constants for P, I, and D.
*
* @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
*/
@SuppressWarnings("ParameterName")
public SynchronousPID(double Kp, double Ki, double Kd, double Kf, PIDSource source,
PIDOutput output) {
super(Kp, Ki, Kd, Kf, source, output);
m_enabled = true;
}
/**
* Free the PID object.
*/
@Override
public void free() {
m_thisMutex.lock();
try {
m_pidOutput = null;
m_pidInput = null;
} finally {
m_thisMutex.unlock();
}
}
/**
* Read the input, calculate the output accordingly, and write to the output.
*/
@Override
public void calculate() { // NOPMD
super.calculate();
}
}