CorrectionSpeedController.java

package org.usfirst.frc.team4009.robot;
import edu.wpi.first.wpilibj.SpeedController;

class CorrectionSpeedController implements SpeedController {
    SpeedController actualController;
    double correctionFactor;
    public CorrectionSpeedController(SpeedController controller){
        actualController = controller;
    }

    public void setCorrection(double correction) {
        correctionFactor = correction;
    }

    public double get() {
        return actualController.get();
    }

    public void set(double speed) {
        actualController.set(speed * correctionFactor);
    }

    public void disable() {
        actualController.disable();
    }

    public void stopMotor(){
        actualController.stopMotor();
    }

    public void setInverted(boolean isInverted){
        actualController.setInverted(isInverted);
    }

    public boolean getInverted() {
        return actualController.getInverted();
    }

    public void pidWrite(double output) {
        actualController.pidWrite(output);
    }
}