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Minor improvements/fixes to new command framework (#2186)

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Oblarg
2019-12-23 02:09:25 -05:00
committed by Peter Johnson
parent 1ce24a7a2f
commit 67b59f2b31
9 changed files with 107 additions and 38 deletions
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5
wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
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@@ -24,8 +24,9 @@ class PIDSubsystem : public SubsystemBase {
* Creates a new PIDSubsystem.
*
* @param controller the PIDController to use
* @param initialPosition the initial setpoint of the subsystem
*/
explicit PIDSubsystem(PIDController controller);
explicit PIDSubsystem(PIDController controller, double initialPosition = 0);
void Periodic() override;
@@ -62,7 +63,7 @@ class PIDSubsystem : public SubsystemBase {
protected:
PIDController m_controller;
bool m_enabled;
bool m_enabled{false};
/**
* Returns the measurement of the process variable used by the PIDController.