The current PidController.h found in robot/rover/Arm/ is coupled to the Arm subsystem (prints saying stuff about the Arm, a variable about joint limits). This issue is about making a generic PidController class. A suggestion (which you don't need to follow) is to have a subclass ArmPidController that inherits the additional behaviors. Ideally, it should also work to replace the one in MobilePlatform
The current PidController.h found in
robot/rover/Arm/is coupled to the Arm subsystem (prints saying stuff about the Arm, a variable about joint limits). This issue is about making a generic PidController class. A suggestion (which you don't need to follow) is to have a subclass ArmPidController that inherits the additional behaviors. Ideally, it should also work to replace the one in MobilePlatform