How to set output range for PIDController 2020

Technical Programming
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How to you set the output range for the new PIDController for WPILib 2020?

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I think you want the pid.enableContinuousInput() method for restricting the the input range. To restrict the output range using the new PID controller (there’s a new and the old) you’re suppose to use MathUtil.clamp() see the following link for details.

https://docs.wpilib.org/en/latest/docs/software/advanced-control/controllers/pidcontroller.html#setting-continuous-input

I think this is the correct link to the API docs:
https://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/controller/PIDController.html#enableContinuousInput(double,double)

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