Package com.thegongoliers.output.drivetrain

Class SpeedConstraintModule

java.lang.Object

com.thegongoliers.output.drivetrain.SpeedConstraintModule

All Implemented Interfaces:

DriveModule

public class SpeedConstraintModule
extends java.lang.Object
implements DriveModule

A drivetrain module which will constrain the maximum speed of the robot.

Constructor Summary

Constructors

Constructor	Description
SpeedConstraintModule(double maxSpeed, boolean shouldScaleSpeeds)	Default constructor

Method Summary

Modifier and Type	Method	Description
DriveSpeed	run(DriveSpeed currentSpeed, DriveSpeed desiredSpeed, double deltaTime)	Run the drive module
void	setMaxSpeed(double maxSpeed)
void	setShouldScaleSpeeds(boolean shouldScaleSpeeds)

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

SpeedConstraintModule

public SpeedConstraintModule(double maxSpeed,
                             boolean shouldScaleSpeeds)

Default constructor

Parameters:

maxSpeed - The maximum speed

shouldScaleSpeeds - True if the speeds should be scaled to the clamped range, or false otherwise

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

setMaxSpeed

public void setMaxSpeed(double maxSpeed)

setShouldScaleSpeeds

public void setShouldScaleSpeeds(boolean shouldScaleSpeeds)