Package com.thegongoliers.output.drivetrain

Class PowerEfficiencyModule

java.lang.Object

com.thegongoliers.output.drivetrain.RampModule

All Implemented Interfaces:

DriveModule

public class PowerEfficiencyModule
extends java.lang.Object
implements DriveModule

A drivetrain module which will force the drivetrain to accelerate slower.

Constructor Summary

Constructors

Constructor	Description
PowerEfficiencyModule(double secondsToReachFullSpeed)	Default constructor
PowerEfficiencyModule(double secondsToReachFullSpeed, double turnThreshold)	Default constructor

Method Summary

Modifier and Type	Method	Description
DriveSpeed	run(DriveSpeed currentSpeed, DriveSpeed desiredSpeed, double deltaTime)	Run the drive module
void	setRampingTime(double secondsToReachFullSpeed)
void	setTurnThreshold(double turnThreshold)

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.thegongoliers.output.drivetrain.DriveModule

overridesUser

Constructor Detail

PowerEfficiencyModule

public PowerEfficiencyModule(double secondsToReachFullSpeed,
                             double turnThreshold)

Default constructor

Parameters:

secondsToReachFullSpeed - the ramping time in seconds from 0 to full speed

turnThreshold - the maximum difference between the two wheel speeds to run the power efficiency module on. Defaults to 2.

PowerEfficiencyModule

public PowerEfficiencyModule(double secondsToReachFullSpeed)

Default constructor

Parameters:

secondsToReachFullSpeed - the ramping time in seconds from 0 to full speed

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

setRampingTime

public void setRampingTime(double secondsToReachFullSpeed)

Parameters:

secondsToReachFullSpeed - the ramping time in seconds from 0 to full speed

setTurnThreshold

public void setTurnThreshold(double turnThreshold)

Parameters:

turnThreshold - the maximum difference between the two wheel speeds to run the power efficiency module on. Defaults to 2.