Package com.thegongoliers.output.drivetrain

Class PrecisionModule

java.lang.Object

com.thegongoliers.output.drivetrain.PrecisionModule

All Implemented Interfaces:

DriveModule

public class PrecisionModule
extends java.lang.Object
implements DriveModule

A drivetrain module which will allow higher precision driving at lower speeds.

Constructor Summary

Constructors

Constructor	Description
PrecisionModule(double strength)	Default constructor

Method Summary

Modifier and Type	Method	Description
DriveSpeed	run(DriveSpeed currentSpeed, DriveSpeed desiredSpeed, double deltaTime)	Run the drive module
void	setStrength(double strength)

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

PrecisionModule

public PrecisionModule(double strength)

Default constructor

Parameters:

strength - The precision strength from 0 to 1. Higher values will result in more precision movements at low speeds (corresponds to input^(4 * strength))

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

setStrength

public void setStrength(double strength)