From 74edbb23a7f9db392eaf3fc5f3987269ca63cd55 Mon Sep 17 00:00:00 2001
From: "drew thompson (sr1899)" <horsenkat@gmail.com>
Date: Wed, 31 Jan 2018 15:45:23 -0800
Subject: [PATCH] removing homebrew PID to avoid confusion with WPILIB
 PIDController

---
 src/main/java/com/github/dozer/util/PID.java | 46 --------------------
 1 file changed, 46 deletions(-)
 delete mode 100644 src/main/java/com/github/dozer/util/PID.java

diff --git a/src/main/java/com/github/dozer/util/PID.java b/src/main/java/com/github/dozer/util/PID.java
deleted file mode 100644
index 83887c4..0000000
--- a/src/main/java/com/github/dozer/util/PID.java
+++ /dev/null
@@ -1,46 +0,0 @@
-package com.github.dozer.util;
-
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
-public class PID {
-
-  private final double maxSum;
-
-  public double kp;
-  private double ki;
-  private double kd;
-
-  private double lastError = 0;
-  public double errorSum = 0;
-
-  private double outMin = -1;
-  private double outMax = 1;
-
-  public PID(double kp, double ki, double kd, double maxSum) {
-    this.kp = kp;
-    this.ki = ki;
-    this.kd = kd;
-    this.maxSum = maxSum;
-  }
-
-  public double compute(double input, double setpoint) {
-    double error = setpoint - input;
-
-    this.errorSum += error * ki;
-    if (this.errorSum < -this.maxSum)
-      this.errorSum = -this.maxSum;
-    if (this.errorSum > this.maxSum)
-      this.errorSum = this.maxSum;
-
-    SmartDashboard.putNumber("pid_error_sum", errorSum);
-
-    double output = this.kp * error + this.errorSum - this.kd * (error - this.lastError);
-    if (output < this.outMin)
-      output = this.outMin;
-    if (output > this.outMax)
-      output = this.outMax;
-
-    this.lastError = error;
-    return output;
-  }
-}