The output range can be set on a PIDSubSystem

Also, mimimum -> minimum in PIDController.h

Change-Id: I0cdfdca6ca2bdf2c2a40ee524cc925281069fcf4

wpilibc/wpilibC++/include/Commands/PIDSubsystem.h

@@ -14,7 +14,7 @@
 
 /**
  * This class is designed to handle the case where there is a {@link Subsystem}
- * which uses a single {@link PIDController} almost constantly (for instance, 
+ * which uses a single {@link PIDController} almost constantly (for instance,
  * an elevator which attempts to stay at a constant height).
  *
  * <p>It provides some convenience methods to run an internal {@link PIDController}.
@@ -32,7 +32,7 @@ public:
 	PIDSubsystem(double p, double i, double d, double f);
 	PIDSubsystem(double p, double i, double d, double f, double period);
 	virtual ~PIDSubsystem();
-	
+
 	void Enable();
 	void Disable();
 
@@ -44,13 +44,14 @@ public:
 	void SetSetpoint(double setpoint);
 	void SetSetpointRelative(double deltaSetpoint);
 	void SetInputRange(float minimumInput, float maximumInput);
+	void SetOutputRange(float minimumOutput, float maximumOutput);
 	double GetSetpoint();
 	double GetPosition();
 
 	virtual void SetAbsoluteTolerance(float absValue);
 	virtual void SetPercentTolerance(float percent);
 	virtual bool OnTarget();
-	
+
 protected:
 	PIDController *GetPIDController();
 
@@ -67,4 +68,3 @@ public:
 };
 
 #endif
-

wpilibc/wpilibC++/include/PIDController.h

@@ -16,7 +16,7 @@ class Notifier;
 
 /**
  * Class implements a PID Control Loop.
- * 
+ *
  * Creates a separate thread which reads the given PIDSource and takes
  * care of the integral calculations, as well as writing the given
  * PIDOutput
@@ -32,7 +32,7 @@ public:
 	virtual float Get();
 	virtual void SetContinuous(bool continuous = true);
 	virtual void SetInputRange(float minimumInput, float maximumInput);
-	virtual void SetOutputRange(float mimimumOutput, float maximumOutput);
+	virtual void SetOutputRange(float minimumOutput, float maximumOutput);
 	virtual void SetPID(float p, float i, float d);
 	virtual void SetPID(float p, float i, float d, float f);
 	virtual float GetP();
@@ -86,7 +86,7 @@ private:
 
 	PIDSource *m_pidInput;
 	PIDOutput *m_pidOutput;
-	
+
 	pthread_t m_controlLoop;
 	pthread_mutex_t m_mutex;
 

wpilibc/wpilibC++/lib/Commands/PIDSubsystem.cpp

@@ -8,8 +8,6 @@
 #include "PIDController.h"
 #include "float.h"
 
-// XXX max and min are not used?
-
 /**
  * Instantiates a {@link PIDSubsystem} that will use the given p, i and d values.
  * @param name the name
@@ -111,7 +109,7 @@ void PIDSubsystem::Enable()
 	m_controller->Enable();
 }
 
-/** 
+/**
   * Disables the internal {@link PIDController}
   */
 void PIDSubsystem::Disable()
@@ -165,7 +163,7 @@ double PIDSubsystem::GetSetpoint()
 
 /**
  * Sets the maximum and minimum values expected from the input.
- * 
+ *
  * @param minimumInput the minimum value expected from the input
  * @param maximumInput the maximum value expected from the output
  */
@@ -174,6 +172,17 @@ void PIDSubsystem::SetInputRange(float minimumInput, float maximumInput)
 	m_controller->SetInputRange(minimumInput, maximumInput);
 }
 
+/**
+ * Sets the maximum and minimum values to write.
+ *
+ * @param minimumOutput the minimum value to write to the output
+ * @param maximumOutput the maximum value to write to the output
+ */
+void PIDSubsystem::SetOutputRange(float minimumOutput, float maximumOutput)
+{
+	m_controller->SetOutputRange(minimumOutput, maximumOutput);
+}
+
 /*
  * Set the absolute error which is considered tolerable for use with
  * OnTarget.
@@ -197,10 +206,10 @@ void PIDSubsystem::SetPercentTolerance(float percent) {
  * determined by SetTolerance. This asssumes that the maximum and minimum input
  * were set using SetInput. Use OnTarget() in the IsFinished() method of commands
  * that use this subsystem.
- * 
+ *
  * Currently this just reports on target as the actual value passes through the setpoint.
  * Ideally it should be based on being within the tolerance for some period of time.
- * 
+ *
  * @return true if the error is within the percentage tolerance of the input range
  */
 bool PIDSubsystem::OnTarget()

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java

@@ -184,6 +184,16 @@ public abstract class PIDSubsystem extends Subsystem implements Sendable {
         controller.setInputRange(minimumInput, maximumInput);
     }
 
+    /**
+     * Sets the maximum and minimum values to write.
+     *
+     * @param minimumOutput the minimum value to write to the output
+     * @param maximumOutput the maximum value to write to the output
+     */
+    public void setOutputRange(double minimumOutput, double maximumOutput) {
+        controller.setOutputRange(minimumOutput, maximumOutput);
+    }
+
     /**
     * Set the absolute error which is considered tolerable for use with
     * OnTarget. The value is in the same range as the PIDInput values.