/**
* This navXPIDController constructor is used when the PID Controller is to be driven by a
* navX-Model device input data source which is accompanied by a high-accuracy "sensor" timestamp.
*
* <p>The data source specified automatically determines the navXPIDController's input data range.
*/
public navXPIDController(AHRS navx_device, navXTimestampedDataSource src) {
this.navx_device = navx_device;
this.timestamped = true;
this.timestamped_src = src;
switch (src) {
case YAW:
this.setInputRange(-180.0, 180.0);
break;
case PITCH:
case ROLL:
this.setInputRange(-90.0, 90.0);
break;
case COMPASS_HEADING:
case FUSED_HEADING:
this.setInputRange(0.0, 360.0);
break;
case LINEAR_ACCEL_X:
case LINEAR_ACCEL_Y:
case LINEAR_ACCEL_Z:
this.setInputRange(-2.0, 2.0);
break;
}
navx_device.registerCallback(this);
}
/**
* This navXPIDController constructor is used when the PID Controller is to be driven by a
* navX-Model device input data source which is not accompanied by a high-accuracy "sensor"
* timestamp.
*
* <p>The data source specified automatically determines the navXPIDController's input data range.
*/
public navXPIDController(AHRS navx_device, navXUntimestampedDataSource src) {
this.navx_device = navx_device;
this.timestamped = false;
this.untimestamped_src = src;
navx_device.registerCallback(this);
}
