updated control algorithms to work better with NetworkTables

.classpath

@@ -8,5 +8,5 @@
 	</classpathentry>
 	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-11/"/>
 	<classpathentry kind="con" path="org.eclipse.buildship.core.gradleclasspathcontainer"/>
-	<classpathentry kind="output" path="bin"/>
+	<classpathentry kind="output" path="bin/default"/>
 </classpath>

docs/com/stuypulse/stuylib/control/BangBangController.html

@@ -26,7 +26,7 @@
     catch(err) {
     }
 //-->
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+var data = {"i0":10,"i1":10};
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 var rowColor = "rowColor";
@@ -134,6 +134,10 @@ <h2 title="Class BangBangController" class="title">Class BangBangController</h2>
 <div class="description">
 <ul class="blockList">
 <li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code>edu.wpi.first.wpilibj.Sendable</code></dd>
+</dl>
 <hr>
 <pre>public class <span class="typeNameLabel">BangBangController</span>
 extends <a href="Controller.html" title="class in com.stuypulse.stuylib.control">Controller</a></pre>
@@ -208,6 +212,11 @@ <h3>Method Summary</h3>
 <div class="block">Update the controller with the error just measured</div>
 </td>
 </tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initSendable(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder)">initSendable</a></span>&#8203;(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder&nbsp;builder)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
 </table>
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 <li class="blockList"><a id="methods.inherited.from.class.com.stuypulse.stuylib.control.Controller">
@@ -223,6 +232,13 @@ <h3>Methods inherited from class&nbsp;com.stuypulse.stuylib.control.<a href="Con
 <h3>Methods inherited from class&nbsp;java.lang.Object</h3>
 <code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait</code></li>
 </ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj.Sendable">
+<!--   -->
+</a>
+<h3>Methods inherited from interface&nbsp;edu.wpi.first.wpilibj.Sendable</h3>
+<code>addChild, getName, getSubsystem, setName, setName, setName, setName, setSubsystem</code></li>
+</ul>
 </li>
 </ul>
 </section>
@@ -294,7 +310,7 @@ <h3>Method Detail</h3>
 <a id="calculate(double)">
 <!--   -->
 </a>
-<ul class="blockListLast">
+<ul class="blockList">
 <li class="blockList">
 <h4>calculate</h4>
 <pre class="methodSignature">public&nbsp;double&nbsp;calculate&#8203;(double&nbsp;error)</pre>
@@ -311,6 +327,21 @@ <h4>calculate</h4>
 </dl>
 </li>
 </ul>
+<a id="initSendable(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>initSendable</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;initSendable&#8203;(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder&nbsp;builder)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code>initSendable</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.wpilibj.Sendable</code></dd>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="Controller.html#initSendable(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder)">initSendable</a></code>&nbsp;in class&nbsp;<code><a href="Controller.html" title="class in com.stuypulse.stuylib.control">Controller</a></code></dd>
+</dl>
+</li>
+</ul>
 </li>
 </ul>
 </section>

docs/com/stuypulse/stuylib/control/Controller.html

@@ -26,7 +26,7 @@
     catch(err) {
     }
 //-->
-var data = {"i0":6,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10};
+var data = {"i0":6,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10};
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@@ -130,12 +130,17 @@ <h2 title="Class Controller" class="title">Class Controller</h2>
 <ul class="blockList">
 <li class="blockList">
 <dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code>edu.wpi.first.wpilibj.Sendable</code></dd>
+</dl>
+<dl>
 <dt>Direct Known Subclasses:</dt>
 <dd><code><a href="BangBangController.html" title="class in com.stuypulse.stuylib.control">BangBangController</a></code>, <code><a href="PIDCalculator.html" title="class in com.stuypulse.stuylib.control">PIDCalculator</a></code>, <code><a href="PIDController.html" title="class in com.stuypulse.stuylib.control">PIDController</a></code>, <code><a href="TBHController.html" title="class in com.stuypulse.stuylib.control">TBHController</a></code></dd>
 </dl>
 <hr>
 <pre>public abstract class <span class="typeNameLabel">Controller</span>
-extends java.lang.Object</pre>
+extends java.lang.Object
+implements edu.wpi.first.wpilibj.Sendable</pre>
 <div class="block">The controller class is an abstract class that is used to create different controllers. All a
  class will need to do is implement calculate(double error), and then the user would use the
  update() functions, which work as a sort of wrapper for the controllers. No matter what
@@ -233,57 +238,62 @@ <h3>Method Summary</h3>
 </td>
 </tr>
 <tr id="i6" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initSendable(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder)">initSendable</a></span>&#8203;(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder&nbsp;builder)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i7" class="rowColor">
 <td class="colFirst"><code>boolean</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isDone(double)">isDone</a></span>&#8203;(double&nbsp;maxError)</code></th>
 <td class="colLast">
 <div class="block">Get whether or not the Controller has arrived at the target.</div>
 </td>
 </tr>
-<tr id="i7" class="rowColor">
+<tr id="i8" class="altColor">
 <td class="colFirst"><code>boolean</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isDone(double,double)">isDone</a></span>&#8203;(double&nbsp;maxError,
       double&nbsp;maxVelocity)</code></th>
 <td class="colLast">
 <div class="block">Get whether or not the Controller has arrived at the target.</div>
 </td>
 </tr>
-<tr id="i8" class="altColor">
+<tr id="i9" class="rowColor">
 <td class="colFirst"><code><a href="Controller.html" title="class in com.stuypulse.stuylib.control">Controller</a></code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setErrorFilter(com.stuypulse.stuylib.streams.filters.IFilter)">setErrorFilter</a></span>&#8203;(<a href="../streams/filters/IFilter.html" title="interface in com.stuypulse.stuylib.streams.filters">IFilter</a>&nbsp;filter)</code></th>
 <td class="colLast">
 <div class="block">Lets you specify a filter that will be applied to all measurements that are given to the
  controller.</div>
 </td>
 </tr>
-<tr id="i9" class="rowColor">
+<tr id="i10" class="altColor">
 <td class="colFirst"><code><a href="Controller.html" title="class in com.stuypulse.stuylib.control">Controller</a></code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOutputFilter(com.stuypulse.stuylib.streams.filters.IFilter)">setOutputFilter</a></span>&#8203;(<a href="../streams/filters/IFilter.html" title="interface in com.stuypulse.stuylib.streams.filters">IFilter</a>&nbsp;filter)</code></th>
 <td class="colLast">
 <div class="block">Lets you specify a filter that will be applied to all of the outputs of the controller.</div>
 </td>
 </tr>
-<tr id="i10" class="altColor">
+<tr id="i11" class="rowColor">
 <td class="colFirst"><code><a href="Controller.html" title="class in com.stuypulse.stuylib.control">Controller</a></code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVelocityFilter(com.stuypulse.stuylib.streams.filters.IFilter)">setVelocityFilter</a></span>&#8203;(<a href="../streams/filters/IFilter.html" title="interface in com.stuypulse.stuylib.streams.filters">IFilter</a>&nbsp;filter)</code></th>
 <td class="colLast">
 <div class="block">Lets you specify a filter that will be applied to the velocity measurements.</div>
 </td>
 </tr>
-<tr id="i11" class="rowColor">
+<tr id="i12" class="altColor">
 <td class="colFirst"><code>java.lang.String</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toString()">toString</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Default to string funciton</div>
 </td>
 </tr>
-<tr id="i12" class="altColor">
+<tr id="i13" class="rowColor">
 <td class="colFirst"><code>double</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#update(double)">update</a></span>&#8203;(double&nbsp;error)</code></th>
 <td class="colLast">
 <div class="block">Update the controller with the error from the destination that you want to reach</div>
 </td>
 </tr>
-<tr id="i13" class="rowColor">
+<tr id="i14" class="altColor">
 <td class="colFirst"><code>double</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#update(double,double)">update</a></span>&#8203;(double&nbsp;setpoint,
       double&nbsp;measurement)</code></th>
@@ -300,6 +310,13 @@ <h3>Method Summary</h3>
 <h3>Methods inherited from class&nbsp;java.lang.Object</h3>
 <code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait</code></li>
 </ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj.Sendable">
+<!--   -->
+</a>
+<h3>Methods inherited from interface&nbsp;edu.wpi.first.wpilibj.Sendable</h3>
+<code>addChild, getName, getSubsystem, setName, setName, setName, setName, setSubsystem</code></li>
+</ul>
 </li>
 </ul>
 </section>
@@ -576,7 +593,7 @@ <h4>calculate</h4>
 <a id="toString()">
 <!--   -->
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-<ul class="blockListLast">
+<ul class="blockList">
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 <h4>toString</h4>
 <pre class="methodSignature">public&nbsp;java.lang.String&nbsp;toString()</pre>
@@ -587,6 +604,19 @@ <h4>toString</h4>
 </dl>
 </li>
 </ul>
+<a id="initSendable(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>initSendable</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;initSendable&#8203;(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder&nbsp;builder)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code>initSendable</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.wpilibj.Sendable</code></dd>
+</dl>
+</li>
+</ul>
 </li>
 </ul>
 </section>

docs/com/stuypulse/stuylib/control/PIDCalculator.html

@@ -26,7 +26,7 @@
     catch(err) {
     }
 //-->
-var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10};
+var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10};
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@@ -134,6 +134,10 @@ <h2 title="Class PIDCalculator" class="title">Class PIDCalculator</h2>
 <div class="description">
 <ul class="blockList">
 <li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code>edu.wpi.first.wpilibj.Sendable</code></dd>
+</dl>
 <hr>
 <pre>public class <span class="typeNameLabel">PIDCalculator</span>
 extends <a href="Controller.html" title="class in com.stuypulse.stuylib.control">Controller</a></pre>
@@ -224,11 +228,16 @@ <h3>Method Summary</h3>
 </td>
 </tr>
 <tr id="i7" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initSendable(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder)">initSendable</a></span>&#8203;(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder&nbsp;builder)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i8" class="altColor">
 <td class="colFirst"><code><a href="PIDCalculator.html" title="class in com.stuypulse.stuylib.control">PIDCalculator</a></code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setControlSpeed(java.lang.Number)">setControlSpeed</a></span>&#8203;(java.lang.Number&nbsp;speed)</code></th>
 <td class="colLast">&nbsp;</td>
 </tr>
-<tr id="i8" class="altColor">
+<tr id="i9" class="rowColor">
 <td class="colFirst"><code>java.lang.String</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toString()">toString</a></span>()</code></th>
 <td class="colLast">
@@ -250,6 +259,13 @@ <h3>Methods inherited from class&nbsp;com.stuypulse.stuylib.control.<a href="Con
 <h3>Methods inherited from class&nbsp;java.lang.Object</h3>
 <code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait</code></li>
 </ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj.Sendable">
+<!--   -->
+</a>
+<h3>Methods inherited from interface&nbsp;edu.wpi.first.wpilibj.Sendable</h3>
+<code>addChild, getName, getSubsystem, setName, setName, setName, setName, setSubsystem</code></li>
+</ul>
 </li>
 </ul>
 </section>
@@ -406,7 +422,7 @@ <h4>getPController</h4>
 <a id="toString()">
 <!--   -->
 </a>
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+<ul class="blockList">
 <li class="blockList">
 <h4>toString</h4>
 <pre class="methodSignature">public&nbsp;java.lang.String&nbsp;toString()</pre>
@@ -420,6 +436,21 @@ <h4>toString</h4>
 </dl>
 </li>
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+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>initSendable</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;initSendable&#8203;(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder&nbsp;builder)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code>initSendable</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.wpilibj.Sendable</code></dd>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="Controller.html#initSendable(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder)">initSendable</a></code>&nbsp;in class&nbsp;<code><a href="Controller.html" title="class in com.stuypulse.stuylib.control">Controller</a></code></dd>
+</dl>
+</li>
+</ul>
 </li>
 </ul>
 </section>