struct Input
The information that followPath gives to the speed controller. This struct is the “contract” between WheelController and SpeedController. followPath will pass this struct to the followTo function. followPath guarantees that all the information in this struct will be valid. The speed controller can use this information to follow the path.
There is a slight potential for a problem: the driveDistance function DOES NOT fill out all the information in this struct, it only fills what is necessary. However, driveDistance only accepts a PidController, which has already been made to use only the information that driveDistance gives it.