Package com.thegongoliers.output.drivetrain

Class AnchorModule

java.lang.Object

com.thegongoliers.output.drivetrain.AnchorModule

All Implemented Interfaces:

DriveModule

public class AnchorModule
extends java.lang.Object
implements DriveModule

A drivetrain module which will lock the drivetrain in place while a trigger condition is met

Constructor Summary

Constructors

Constructor	Description
AnchorModule(edu.wpi.first.wpilibj.Encoder leftEncoder, edu.wpi.first.wpilibj.Encoder rightEncoder, double strength)	Default constructor
AnchorModule(edu.wpi.first.wpilibj.Encoder leftEncoder, edu.wpi.first.wpilibj.Encoder rightEncoder, com.kylecorry.pid.PID pid)

Method Summary

Modifier and Type	Method	Description
void	holdPosition()
boolean	overridesUser()	Determines if the module should override the user's input
DriveSpeed	run(DriveSpeed currentSpeed, DriveSpeed desiredSpeed, double deltaTime)	Run the drive module
void	setLeftEncoder(edu.wpi.first.wpilibj.Encoder leftEncoder)
void	setPID(com.kylecorry.pid.PID pid)
void	setRightEncoder(edu.wpi.first.wpilibj.Encoder rightEncoder)
void	stopHoldingPosition()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

AnchorModule

public AnchorModule(edu.wpi.first.wpilibj.Encoder leftEncoder,
                    edu.wpi.first.wpilibj.Encoder rightEncoder,
                    double strength)

Default constructor

Parameters:

leftEncoder - the left encoder

rightEncoder - the right encoder

strength - the fortify strength (higher values may become unstable, small values recommended. Values must be greater than or equal to 0)

AnchorModule

public AnchorModule(edu.wpi.first.wpilibj.Encoder leftEncoder,
                    edu.wpi.first.wpilibj.Encoder rightEncoder,
                    com.kylecorry.pid.PID pid)

Method Detail

run

public DriveSpeed run(DriveSpeed currentSpeed,
                      DriveSpeed desiredSpeed,
                      double deltaTime)

Description copied from interface: DriveModule

Run the drive module

Specified by:

run in interface DriveModule

Parameters:

currentSpeed - the current speed of the drivetrain

desiredSpeed - the desired speed of the drivetrain

deltaTime - the delta time since the last call in seconds

Returns:

the speed the drivetrain should set

overridesUser

public boolean overridesUser()

Description copied from interface: DriveModule

Determines if the module should override the user's input

Specified by:

overridesUser in interface DriveModule

Returns:

true if it overrides the user's input

holdPosition

public void holdPosition()

stopHoldingPosition

public void stopHoldingPosition()

setLeftEncoder

public void setLeftEncoder(edu.wpi.first.wpilibj.Encoder leftEncoder)

setRightEncoder

public void setRightEncoder(edu.wpi.first.wpilibj.Encoder rightEncoder)

setPID

public void setPID(com.kylecorry.pid.PID pid)