Remove all fields and methods from warlordspidcontroller that are now in warlordscontrolsystem (leave the calculate method).
Next, implement pidwrite in warlordspidcontroller so it passes the values onto setsetpoint.
There will certainly be errors in anything that uses warlords pidcontrollers (namely, drivetrain), so change them to use the new constructor and make direct calls to both setpid and possibly setperiod.
Remove all fields and methods from warlordspidcontroller that are now in warlordscontrolsystem (leave the calculate method).
Next, implement pidwrite in warlordspidcontroller so it passes the values onto setsetpoint.
There will certainly be errors in anything that uses warlords pidcontrollers (namely, drivetrain), so change them to use the new constructor and make direct calls to both setpid and possibly setperiod.