artf4127: Implemented velocity PID controller

Change-Id: I8c0f84422f7ca0ac5c50fddb282fb3452ee1d491

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java

@@ -31,6 +31,7 @@ public class AnalogInput extends SensorBase implements PIDSource,
 
 	private SimFloatInput m_impl;
 	private int m_channel;
+  protected PIDSourceParameter m_pidSource = PIDSourceParameter.kDistance;
 
 	/**
 	 * Construct an analog channel.
@@ -87,6 +88,20 @@ public class AnalogInput extends SensorBase implements PIDSource,
 		return m_channel;
 	}
 
+  /**
+   * {@inheritDoc}
+   */
+  public void setPIDSourceParameter(PIDSourceParameter pidSource) {
+    m_pidSource = pidSource;
+  }
+
+  /**
+   * {@inheritDoc}
+   */
+  public PIDSourceParameter getPIDSourceParameter() {
+    return m_pidSource;
+  }
+
 	/**
 	 * Get the average value for use with PIDController
 	 *

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java

@@ -21,6 +21,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
     private double m_scale, m_offset;
     private AnalogInput m_analog_input;
     private boolean m_init_analog_input;
+  protected PIDSourceParameter m_pidSource = PIDSourceParameter.kDistance;
 
     /**
      * Common initialization code called by all constructors.
@@ -134,6 +135,20 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
         return m_analog_input.getVoltage() * m_scale + m_offset;
     }
 
+  /**
+   * {@inheritDoc}
+   */
+  public void setPIDSourceParameter(PIDSourceParameter pidSource) {
+    m_pidSource = pidSource;
+  }
+
+  /**
+   * {@inheritDoc}
+   */
+  public PIDSourceParameter getPIDSourceParameter() {
+    return m_pidSource;
+  }
+
     /**
      * Implement the PIDSource interface.
      *

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -280,6 +280,13 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 		m_pidSource = pidSource;
 	}
 
+    /**
+     * {@inheritDoc}
+     */
+    public PIDSourceParameter getPIDSourceParameter() {
+      return m_pidSource;
+    }
+
 	/**
 	 * Implement the PIDSource interface.
 	 *

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Gyro.java

@@ -118,6 +118,13 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
 		m_pidSource = pidSource;
 	}
 
+    /**
+     * {@inheritDoc}
+     */
+    public PIDSourceParameter getPIDSourceParameter() {
+      return m_pidSource;
+    }
+
 	/**
 	 * Get the angle of the gyro for use with PIDControllers
 	 *