Remove PID Widget features only used by old PIDController

Fixes wpilibsuite#660

Author: sciencewhiz

plugins/base/src/main/java/edu/wpi/first/shuffleboard/plugin/base/data/PIDCommandData.java

@@ -16,11 +16,9 @@ public PIDCommandData(String name,
                         double p,
                         double i,
                         double d,
-                        double f,
-                        double setpoint,
-                        boolean enabled) {
+                        double setpoint) {
     commandData = new CommandData(name, running, isParented);
-    pidControllerData = new PIDControllerData(p, i, d, f, setpoint, enabled);
+    pidControllerData = new PIDControllerData(p, i, d, setpoint);
   }
 
   public PIDCommandData(Map<String, Object> map) {
@@ -73,26 +71,14 @@ public double getD() {
     return pidControllerData.getD();
   }
 
-  public double getF() {
-    return pidControllerData.getF();
-  }
-
   public double getSetpoint() {
     return pidControllerData.getSetpoint();
   }
 
-  public boolean isEnabled() {
-    return pidControllerData.isEnabled();
-  }
-
   public PIDCommandData withP(double p) {
     return new PIDCommandData(commandData, pidControllerData.withP(p));
   }
 
-  public PIDCommandData withEnabled(boolean enabled) {
-    return new PIDCommandData(commandData, pidControllerData.withEnabled(enabled));
-  }
-
   public PIDCommandData withRunning(boolean running) {
     return new PIDCommandData(commandData.withRunning(running), pidControllerData);
   }

plugins/base/src/main/java/edu/wpi/first/shuffleboard/plugin/base/data/PIDControllerData.java

@@ -12,40 +12,32 @@ public final class PIDControllerData extends ComplexData<PIDControllerData> {
   private final double p;
   private final double i;
   private final double d;
-  private final double f;
   private final double setpoint;
-  private final boolean enabled;
 
   /**
    * Creates a new PIDController data object.
    *
    * @param p        the proportional constant
    * @param i        the integral constant
    * @param d        the derivative constant
-   * @param f        the feedforward constant
    * @param setpoint the controller setpoint
-   * @param enabled  whether or not the controller is enabled
    */
-  public PIDControllerData(double p, double i, double d, double f, double setpoint, boolean enabled) {
+  public PIDControllerData(double p, double i, double d, double setpoint) {
     this.p = p;
     this.i = i;
     this.d = d;
-    this.f = f;
     this.setpoint = setpoint;
-    this.enabled = enabled;
   }
 
   /**
    * Creates a new data object from a map. The map should contain values for all the properties of the data object. If
-   * a value is missing, the default value of {@code 0} (for numbers) or {@code false} (for booleans) is used.
+   * a value is missing, the default value of {@code 0} (for numbers) is used.
    */
   public PIDControllerData(Map<String, Object> map) {
     this((double) map.getOrDefault("p", 0.0),
         (double) map.getOrDefault("i", 0.0),
         (double) map.getOrDefault("d", 0.0),
-        (double) map.getOrDefault("f", 0.0),
-        (double) map.getOrDefault("setpoint", 0.0),
-        (boolean) map.getOrDefault("enabled", false));
+        (double) map.getOrDefault("setpoint", 0.0));
   }
 
   public double getP() {
@@ -60,40 +52,25 @@ public double getD() {
     return d;
   }
 
-  public double getF() {
-    return f;
-  }
-
   public double getSetpoint() {
     return setpoint;
   }
 
-  public boolean isEnabled() {
-    return enabled;
-  }
 
   public PIDControllerData withP(double p) {
-    return new PIDControllerData(p, i, d, f, setpoint, enabled);
+    return new PIDControllerData(p, i, d, setpoint);
   }
 
   public PIDControllerData withI(double i) {
-    return new PIDControllerData(p, i, d, f, setpoint, enabled);
+    return new PIDControllerData(p, i, d, setpoint);
   }
 
   public PIDControllerData withD(double d) {
-    return new PIDControllerData(p, i, d, f, setpoint, enabled);
-  }
-
-  public PIDControllerData withF(double f) {
-    return new PIDControllerData(p, i, d, f, setpoint, enabled);
+    return new PIDControllerData(p, i, d, setpoint);
   }
 
   public PIDControllerData withSetpoint(double setpoint) {
-    return new PIDControllerData(p, i, d, f, setpoint, enabled);
-  }
-
-  public PIDControllerData withEnabled(boolean enabled) {
-    return new PIDControllerData(p, i, d, f, setpoint, enabled);
+    return new PIDControllerData(p, i, d, setpoint);
   }
 
   @Override
@@ -102,9 +79,7 @@ public Map<String, Object> asMap() {
         .put("p", p)
         .put("i", i)
         .put("d", d)
-        .put("f", f)
         .put("setpoint", setpoint)
-        .put("enabled", enabled)
         .build();
   }
 
@@ -120,24 +95,22 @@ public boolean equals(Object obj) {
     return this.p == that.p
         && this.i == that.i
         && this.d == that.d
-        && this.f == that.f
-        && this.setpoint == that.setpoint
-        && this.enabled == that.enabled;
+        && this.setpoint == that.setpoint;
   }
 
   @Override
   public int hashCode() {
-    return Objects.hash(p, i, d, f, setpoint, enabled);
+    return Objects.hash(p, i, d, setpoint);
   }
 
   @Override
   public String toString() {
-    return String.format("PIDControllerData(p=%s, i=%s, d=%s, f=%s, setpoint=%s, enabled=%s)",
-        p, i, d, f, setpoint, enabled);
+    return String.format("PIDControllerData(p=%s, i=%s, d=%s, setpoint=%s)",
+        p, i, d, setpoint);
   }
 
   @Override
   public String toHumanReadableString() {
-    return String.format("p=%.3f, i=%.3f, d-%.3f, f=%.3f, setpoint=%.3f, enabled=%s", p, i, d, f, setpoint, enabled);
+    return String.format("p=%.3f, i=%.3f, d=%.3f, setpoint=%.3f", p, i, d, setpoint);
   }
 }

plugins/base/src/main/java/edu/wpi/first/shuffleboard/plugin/base/data/types/PIDCommandType.java

@@ -21,7 +21,7 @@ public Function<Map<String, Object>, PIDCommandData> fromMap() {
 
   @Override
   public PIDCommandData getDefaultValue() {
-    return new PIDCommandData("", false, false, 0, 0, 0, 0, 0, false);
+    return new PIDCommandData("", false, false, 0, 0, 0, 0);
   }
 
 }

plugins/base/src/main/java/edu/wpi/first/shuffleboard/plugin/base/data/types/PIDControllerType.java

@@ -21,7 +21,7 @@ public Function<Map<String, Object>, PIDControllerData> fromMap() {
 
   @Override
   public PIDControllerData getDefaultValue() {
-    return new PIDControllerData(0, 0, 0, 0, 0, false);
+    return new PIDControllerData(0, 0, 0, 0);
   }
 
 }

plugins/base/src/main/java/edu/wpi/first/shuffleboard/plugin/base/widget/PIDControllerWidget.java

@@ -30,13 +30,7 @@ public class PIDControllerWidget extends SimpleAnnotatedWidget<PIDControllerData
   @FXML
   private NumberField dField;
   @FXML
-  private NumberField fField;
-  @FXML
   private NumberField setpointField;
-  @FXML
-  private ToggleSwitch enableToggle;
-
-  private boolean togglingFromDataChange = true;
 
   @FXML
   private void initialize() {
@@ -45,25 +39,13 @@ private void initialize() {
       pField.setNumber(newData.getP());
       iField.setNumber(newData.getI());
       dField.setNumber(newData.getD());
-      fField.setNumber(newData.getF());
       setpointField.setNumber(newData.getSetpoint());
-      togglingFromDataChange = true;
-      enableToggle.setSelected(newData.isEnabled());
-      togglingFromDataChange = false;
     });
 
     actOnFocusLost(pField);
     actOnFocusLost(iField);
     actOnFocusLost(dField);
-    actOnFocusLost(fField);
     actOnFocusLost(setpointField);
-
-    enableToggle.selectedProperty().addListener((__, prev, cur) -> {
-      if (!togglingFromDataChange) {
-        PIDControllerData data = getData();
-        setData(data.withEnabled(!data.isEnabled()));
-      }
-    });
   }
 
   private void actOnFocusLost(TextField field) {
@@ -94,11 +76,6 @@ private void setD() {
     setData(getData().withD(dField.getNumber()));
   }
 
-  @FXML
-  private void setF() {
-    setData(getData().withF(fField.getNumber()));
-  }
-
   @FXML
   private void setSetpoint() {
     setData(getData().withSetpoint(setpointField.getNumber()));

plugins/base/src/main/resources/edu/wpi/first/shuffleboard/plugin/base/widget/PIDControllerWidget.fxml

@@ -10,7 +10,7 @@
           xmlns:fx="http://javafx.com/fxml"
           fx:controller="edu.wpi.first.shuffleboard.plugin.base.widget.PIDControllerWidget"
           fx:id="root"
-          minWidth="112" minHeight="232"
+          minWidth="112" minHeight="168"
           hgap="4" vgap="4">
     <columnConstraints>
         <ColumnConstraints minWidth="52" prefWidth="52" maxWidth="52"/>
@@ -22,13 +22,9 @@
     <Label text="P" GridPane.columnIndex="0" GridPane.rowIndex="0"/>
     <Label text="I" GridPane.columnIndex="0" GridPane.rowIndex="1"/>
     <Label text="D" GridPane.columnIndex="0" GridPane.rowIndex="2"/>
-    <Label text="F" GridPane.columnIndex="0" GridPane.rowIndex="3"/>
-    <Label text="Setpoint" GridPane.columnIndex="0" GridPane.rowIndex="4"/>
-    <Label text="Enabled" GridPane.columnIndex="0" GridPane.rowIndex="5"/>
+    <Label text="Setpoint" GridPane.columnIndex="0" GridPane.rowIndex="3"/>
     <NumberField fx:id="pField" onAction="#setP" GridPane.columnIndex="1" GridPane.rowIndex="0" GridPane.hgrow="ALWAYS"/>
     <NumberField fx:id="iField" onAction="#setI" GridPane.columnIndex="1" GridPane.rowIndex="1" GridPane.hgrow="ALWAYS"/>
     <NumberField fx:id="dField" onAction="#setD" GridPane.columnIndex="1" GridPane.rowIndex="2" GridPane.hgrow="ALWAYS"/>
-    <NumberField fx:id="fField" onAction="#setF" GridPane.columnIndex="1" GridPane.rowIndex="3" GridPane.hgrow="ALWAYS"/>
-    <NumberField fx:id="setpointField" onAction="#setSetpoint" GridPane.columnIndex="1" GridPane.rowIndex="4" GridPane.hgrow="ALWAYS"/>
-    <ToggleSwitch fx:id="enableToggle" maxWidth="0" GridPane.columnIndex="1" GridPane.rowIndex="5"/>
+    <NumberField fx:id="setpointField" onAction="#setSetpoint" GridPane.columnIndex="1" GridPane.rowIndex="3" GridPane.hgrow="ALWAYS"/>
 </GridPane>