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Re: WPILib PID controller object
I'm not a huge fan of the design paradigm WPI used for their PIDController class (requiring you to implement the PIDSource and PIDOutput interfaces) so I rolled my own. I made it so you call a "calculate()" method synchronously inside your Teleop_Periodic() function, passing in sensor readings and getting output values as well. It just makes more sense to me.
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