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        "author": "David Vo",
        "author_email": "david@thedropbears.org.au",
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            "Development Status :: 3 - Alpha",
            "Intended Audience :: Developers",
            "Intended Audience :: Education",
            "License :: OSI Approved :: BSD License",
            "Operating System :: OS Independent",
            "Programming Language :: Python :: 3 :: Only",
            "Programming Language :: Python :: 3.6",
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        "description": "# wpilib-controller\n\nA backport of the upcoming (in 2020) WPILib PIDController.\n\nThis is a backport of [wpilibsuite/allwpilib#1300][], which is planned to be\nmerged for the 2020 season, for [RobotPy][].\n\n@calcmogul has some [in-progress docs][] on this.\n\nNote that if you are moving from the old WPILib PIDController, your PID\nconstants will need to change, as it did not consider the discretization period:\n\n- divide your Ki gain by 0.05, and\n- multiply your Kd gain by 0.05,\n- where 0.05 is the original default period (use the period you used otherwise).\n\n[wpilibsuite/allwpilib#1300]: https://github.com/wpilibsuite/allwpilib/pull/1300\n[RobotPy]: https://robotpy.github.io\n[in-progress docs]: https://docs.google.com/document/d/1M6sCsqxvQtP2qSIYkvfMb-k3sdPfEg9gsKKneY6i-os/view\n\n## Installation\n\nFor a computer with an internet connection:\n\n```\npip install wpilib-controller\n```\n\nTo install onto an offline roboRIO:\n\n<!--\nNOTE: robotpy-installer does not download wheels:\nhttps://github.com/robotpy/robotpy-installer/issues/24\n-->\n```bash\npip download wpilib-controller -d pip_cache  # with an internet connection\nrobotpy-installer install-pip wpilib-controller  # connected to your robot\n```\n\n## Example\n\n```python\nfrom wpilib_controller import PIDController\n\ncontroller = PIDController(1, 0, 0)\n# setInputRange and setContinuous are now a single method\ncontroller.enableContinuousInput(0, 360)\n\ncontroller.setSetpoint(180)\n\n# elsewhere...\n\n# assume gyro is a gyro object created prior\noutput = controller.calculate(gyro.getAngle())\n# do something with the output, for example:\nmotor.set(output)\n```\n\n## Major differences\n\n- The PID gains are no longer time dependent.\n- This PIDController expects a measurement as a parameter to `calculate()`.\n- This PIDController runs synchronously in your robot code (as opposed to having it run in a thread). You must call `calculate()` and use its return value.\n",
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