Remove percent tolerance from PID controller

It breaks the unit system badly; the tolerance member variable has
different units depending on percent vs absolute. Absolute tolerance is
a lot more natural than percent tolerance anyway.

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java

@@ -37,7 +37,7 @@ public class ShooterSubsystem extends PIDSubsystem {
    */
   public ShooterSubsystem() {
     super(new PIDController(kP, kI, kD));
-    getController().setAbsoluteTolerance(kShooterToleranceRPS);
+    getController().setTolerance(kShooterToleranceRPS);
     m_shooterEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
   }
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java

@@ -34,7 +34,7 @@ public class DriveStraight extends PIDCommand {
     m_drivetrain = drivetrain;
     addRequirements(m_drivetrain);
 
-    getController().setAbsoluteTolerance(0.01);
+    getController().setTolerance(0.01);
   }
 
   // Called just before this Command runs the first time

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java

@@ -35,7 +35,7 @@ public class SetDistanceToBox extends PIDCommand {
     m_drivetrain = drivetrain;
     addRequirements(m_drivetrain);
 
-    getController().setAbsoluteTolerance(0.01);
+    getController().setTolerance(0.01);
   }
 
   // Called just before this Command runs the first time

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java

@@ -37,7 +37,7 @@ public class Elevator extends PIDSubsystem {
     if (Robot.isSimulation()) { // Check for simulation and update PID values
       getController().setPID(kP_simulation, kI_simulation, 0);
     }
-    getController().setAbsoluteTolerance(0.005);
+    getController().setTolerance(0.005);
 
     m_motor = new Victor(5);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java

@@ -34,7 +34,7 @@ public class Wrist extends PIDSubsystem {
     if (Robot.isSimulation()) { // Check for simulation and update PID values
       getController().setPID(kP_simulation, 0, 0);
     }
-    getController().setAbsoluteTolerance(2.5);
+    getController().setTolerance(2.5);
 
     m_motor = new Victor(6);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java

@@ -43,7 +43,7 @@ public class TurnToAngle extends PIDCommand {
     getController().enableContinuousInput(-180, 180);
     // Set the controller tolerance - the delta tolerance ensures the robot is stationary at the
     // setpoint before it is considered as having reached the reference
-    getController().setAbsoluteTolerance(kTurnToleranceDeg, kTurnRateToleranceDegPerS);
+    getController().setTolerance(kTurnToleranceDeg, kTurnRateToleranceDegPerS);
   }
 
   @Override

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java

@@ -50,7 +50,6 @@ public class Robot extends TimedRobot {
     m_joystick = new Joystick(kJoystickChannel);
 
     m_pidController = new PIDController(kP, kI, kD);
-    m_pidController.setInputRange(0, 5);
   }
 
   @Override

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java

@@ -21,9 +21,6 @@ public class Robot extends TimedRobot {
   // distance in inches the robot wants to stay from an object
   private static final double kHoldDistance = 12.0;
 
-  // maximum distance in inches we expect the robot to see
-  private static final double kMaxDistance = 24.0;
-
   // factor to convert sensor values to a distance in inches
   private static final double kValueToInches = 0.125;
 
@@ -46,13 +43,6 @@ public class Robot extends TimedRobot {
       new PWMVictorSPX(kRightMotorPort));
   private final PIDController m_pidController = new PIDController(kP, kI, kD);
 
-  @Override
-  public void robotInit() {
-    // Set expected range to 0-24 inches; e.g. at 24 inches from object go
-    // full forward, at 0 inches from object go full backward.
-    m_pidController.setInputRange(0, kMaxDistance * kValueToInches);
-  }
-
   @Override
   public void teleopInit() {
     // Set setpoint of the pid controller