save in case my comp crashes

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / utils / PIDController.java

diff --git a/src/org/usfirst/frc/team3501/robot/utils/PIDController.java b/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
index 073eee22382db5d391b445f3da768c653abe0d71..3560dcbb9446d4b6d465823569fa300e2a1a2382 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
+++ b/src/org/usfirst/frc/team3501/robot/utils/PIDController.java
@@ -18,6 +18,8 @@ public class PIDController {
   private int minDoneCycleCount;
   private int doneCycleCount;
 
+  private String name;
+
   public PIDController() {
     this(0.0, 0.0, 0.0, 0.0, 0.0);
   }
@@ -42,6 +44,10 @@ public class PIDController {
 
   }
 
+  public void setName(String s) {
+    this.name = s;
+  }
+
   public PIDController(double p, double i, double d, double eps) {
     this(p, i, d, eps, eps * 0.8);
   }
@@ -54,6 +60,9 @@ public class PIDController {
     this.pConst = p;
     this.iConst = i;
     this.dConst = d;
+
+    System.out.println(this.name + " " + " P: " + this.pConst + " I: "
+        + this.iConst + " D: " + this.dConst);
   }
 
   public void setConstants(double p, double i, double d, double eps,