ConfigurePDVelocityCommand.java

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package com.neuronrobotics.sdk.commands.bcs.pid;
 
import com.neuronrobotics.sdk.common.BowlerAbstractCommand;
import com.neuronrobotics.sdk.common.BowlerMethod;
import com.neuronrobotics.sdk.pid.PDVelocityConfiguration;
 
// TODO: Auto-generated Javadoc
public class ConfigurePDVelocityCommand extends BowlerAbstractCommand {
 
    public ConfigurePDVelocityCommand(int group){
        setOpCode("cpdv");
        setMethod(BowlerMethod.GET);
        getCallingDataStorage().add(group);
    }
    
    public ConfigurePDVelocityCommand(PDVelocityConfiguration config){
        setOpCode("cpdv");
        setMethod(BowlerMethod.CRITICAL);
        getCallingDataStorage().add(config.getGroup());
        getCallingDataStorage().addAs32((int) (config.getKP()*100));
        getCallingDataStorage().addAs32((int) (config.getKD()*100));
    }
 
}