RobotBuilder Subsystems with multiple PID loops

[mkadonoff]

We used RobotBuilder to generate CommandRobot java code for Ultimate Ascent 2013, with a gyro in a DriveTrain PIDSubsystem for horizontal angle feedback and a gyro in an Elevator PIDSubsystem for vertical angle feedback.

During build season we also implemented encoder feedback for the drive train, but we couldn't figure out a clean way to include both the encoders and gyro as PIDControllers in one DriveTrain Subsystem.

RobotBuilder only allows one PIDController per subsystem, and no nested Subsystems, so we removed the encoders for this season. However, I'd like to figure out a good way to handle this for next year. Any thoughts on how to implement a CommandRobot Subsystem with multiple PID loops in RobotBuilder?

Mark Kadonoff
Programming Mentor
JMHS Warbots Team 620