IController

All Known Implementing Classes:

TankController
```
public interface IController
```
Interface for objects containing multiple PID controllers and other important runtime parameters.

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method	Description
`double`	`calculateOutput(int controllerID, double setpoint, double current)`	Uses the specified controller to calculate the necessary percent output to acheive a value.
`edu.wpi.first.wpilibj.controller.PIDController`	`getPIDController(int id)`	Returns the PIDController with the given name.

- Method Detail
  - getPIDController
```
edu.wpi.first.wpilibj.controller.PIDController getPIDController(int id)
```
    Returns the PIDController with the given name. "Index" values will be provided through implementing classes. For example, if using a TankController, possible values are LEFT_CONTROLLER and RIGHT_CONTROLLER.
    
    Parameters:
    
    id - The ID of the controller to use. As mentioned earlier, values will be provided as static fields by the implementing class.
    
    Returns:
    
    The PIDController with the specified identity, or a "safe" PIDController (where all gains are set to 0) if there is no such controller.
  - calculateOutput
```
double calculateOutput(int controllerID,
                       double setpoint,
                       double current)
```
    Uses the specified controller to calculate the necessary percent output to acheive a value.
    
    Parameters:
    
    controllerID - The ID of the controller to use. For more information about IDs, see getPIDController(int).
    
    setpoint - The desired value to acheive.
    
    current - The current value.
    
    Returns:
    
    The output required to drive the "current" value to the "desired" value.