[dvanvoorst]

Originally Posted by virtuald

This commit seems to have addressed the bug dvanvoorst is talking about.

Actually that's not the bug I was referring to. Here's the portion of code from the "calculate" method. This is the corrected code:

        // Update the buffer.
        m_buf.add(m_error);
        m_bufTotal += m_error;
        // Remove old elements when the buffer is full.
        if (m_buf.size() > m_bufLength) {
          m_bufTotal -= m_buf.remove();

The original code used m_buf.push and m_buf.pop instead of add and remove, which resulted in the most recent value being popped off instead of the oldest.

I'm running version 0.1.0.201603020231 of the Java WPILib.