/**
* Write out the PID value as seen in the PIDOutput base object.
*
* @deprecated Use setX instead.
* @param output Write out the percentage voltage value as was computed by the PIDController
*/
public void pidWrite(double output) {
if (m_controlMode == ControlMode.kPercentVbus) {
set(output);
} else {
// TODO: Error... only percent vbus mode supported for PID API
}
}
public void stopMotor() {
if (jag != null) {
jag.set(0.0);
}
}
/**
* Set the output set-point value.
*
* <p>Needed by the SpeedControl interface (swallows CANTimeoutExceptions).
*
* @deprecated Use setX instead.
* @param outputValue The set-point to sent to the motor controller.
*/
public void set(double outputValue) {
set(outputValue, (byte) 0);
}