ready for pr

Team766 · Sep 9, 2023 · 761553a · 761553a
1 parent 9b8bdbb
commit 761553a
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Showing 3 changed files with 26 additions and 413 deletions.
diff --git a/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionLinearPIDController.java b/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionLinearPIDController.java
@@ -1,12 +1,19 @@
 public class CanSparkMaxSmartMotionLinearPIDController extends ExtendableCanSparkMaxSmartMotionPIDController {
 
-	private double antigravPower;
+	private final double antigravPower;
 
 
 	public CanSparkMaxSmartMotionLinearPIDController(final String configName, final double absEncoderOffset, final double absEncoderOffsetForZeroEncoderUnits, final OffsetPoint first, final OffsetPoint second) {
 		super(configName, absEncoderOffset, absEncoderOffsetForZeroEncoderUnits, first, second);
 	}
 
+	public void setAntigravPower(double power){
+		antigravPower = power;
+	}
+
+	public void setNewSetpoint(double setPoint){
+		updateSetpointFromSubclass(setPoint);
+	}
 
 
 	public void runPIDs(){

diff --git a/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionNonRotationalPIDController.java b/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionNonRotationalPIDController.java