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package team1100.season2010.robot;

/**
 *
 * @author mark
 */
public class ScaledPIDSource implements edu.wpi.first.wpilibj.PIDSource
{
    edu.wpi.first.wpilibj.AnalogChannel m_src;
    double m_scale;
    ScaledPIDSource(edu.wpi.first.wpilibj.AnalogChannel source, double scale)
    {
        m_src = source;
        m_scale = scale;
    }
    public double pidGet()
    {
        return m_src.pidGet() * m_scale;
    }
};

@@ -157,23 +157,16 @@
 ark%0A */%0A
-public 
 class Sc
@@ -250,29 +250,25 @@
 wpilibj.
-AnalogChannel
+PIDSource
  m_src;%0A
@@ -283,24 +283,43 @@
 le m_scale;%0A
+    double m_bias;%0A
     ScaledPI
@@ -352,21 +352,17 @@
 ibj.
-AnalogChannel
+PIDSource
  sou
@@ -378,16 +378,29 @@
 le scale
+, double bias
 )%0A    %7B%0A
@@ -444,24 +444,47 @@
 le = scale;%0A
+        m_bias = bias;%0A
     %7D%0A    pu
@@ -545,23 +545,168 @@
 () * m_scale
+ + m_bias;%0A    %7D%0A%0A    void setScale(double scale)%0A    %7B%0A        m_scale = scale;%0A    %7D%0A%0A    void setBias(double bias)%0A    %7B%0A        m_bias = bias
 ;%0A    %7D%0A%7D;%0A

Add bias options