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Position and velocity PIDControllers using same encoder
Is there any supported way to do this in wpilib? It seems you have to set an encoder to be either kRate or kPosition - what if you want it to be one for one controller, and another for a different one? I suppose you could write a wrapper class that implements PIDSource and contains the encoder, but that seems ugly.
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Member, FRC Team 449: 2007-2010
Drive Mechanics Lead, FRC Team 449: 2009-2010
Alumnus/Technical Mentor, FRC Team 449: 2010-Present
Lead Technical Mentor, FRC Team 4464: 2012-2015
Technical Mentor, FRC Team 5830: 2015-2016
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