Tuneable pid

src/com/nutrons/framework/controllers/Tuneable.java

@@ -0,0 +1,19 @@
+package com.nutrons.framework.controllers;
+
+import edu.wpi.first.wpilibj.Preferences;
+
+public class Tuneable {
+
+  private final String label;
+  private final double defaultValue;
+
+  public Tuneable(String label, double defaultValue) {
+    this.label = label;
+    this.defaultValue = defaultValue;
+    Preferences.getInstance().putDouble(label, defaultValue);
+  }
+
+  public double get() {
+    return Preferences.getInstance().getDouble(label, defaultValue);
+  }
+}

src/com/nutrons/framework/controllers/TuneablePID.java

@@ -0,0 +1,27 @@
+package com.nutrons.framework.controllers;
+
+public class TuneablePID {
+
+  private final String label;
+  private final Tuneable tuneableP;
+  private final Tuneable tuneableI;
+  private final Tuneable tuneableD;
+  private final Tuneable tuneableF;
+
+  public TuneablePID(String label, double defaultP, double defaultI, double defaultD, double defaultF) {
+    this.label = label;
+    this.tuneableP = new Tuneable(label + "_P", defaultP);
+    this.tuneableI = new Tuneable(label + "_I", defaultI);
+    this.tuneableD = new Tuneable(label + "_D", defaultD);
+    this.tuneableF = new Tuneable(label + "_F", defaultF);
+  }
+
+  public TuneablePID(String label) {
+    this(label, 0, 0, 0, 0);
+  }
+
+  public ControllerEvent getPID() {
+    return Events.pid(tuneableP.get(), tuneableI.get(), tuneableD.get(),
+        tuneableF.get());
+  }
+}

src/com/nutrons/framework/subsystems/Settings.java

@@ -10,12 +10,10 @@ public class Settings implements Subsystem {
   /**
    * Provides a Flowable for a specific property on the WpiSmartDashboard's settings table.
    */
-  public Flowable<Double> getProperty(String key) {
-    return FlowOperators.toFlow(() -> Preferences
-        .getInstance()
-        .getDouble(key, 0.0))
+  public Flowable<Double> getProperty(String key, double backup) {
+    return FlowOperators.toFlow(() ->
+        Preferences.getInstance().getDouble(key, backup))
         .distinctUntilChanged();
-    //TODO: don't emit anything if it's 0.0, store last value and send that as backup
   }
 
   @Override