Package com.thegongoliers.output.drivetrain

Class StabilityModule

java.lang.Object

com.thegongoliers.output.drivetrain.GyroStabilityModule

All Implemented Interfaces:

DriveModule

public class StabilityModule
extends java.lang.Object
implements DriveModule

A drivetrain module which will stabilize the drivetrain (rotation-wise) while attempting to drive straight

Constructor Summary

Constructors

Constructor	Description
StabilityModule(edu.wpi.first.wpilibj.interfaces.Gyro gyro, double strength, double settlingTime)	Default constructor

Method Summary

Modifier and Type	Method	Description
void	reset()	Resets the desired heading of the robot to match the gyro
DriveSpeed	run(DriveSpeed currentSpeed, DriveSpeed desiredSpeed, double deltaTime)	Run the drive module
void	setClock(Clock clock)
void	setGyro(edu.wpi.first.wpilibj.interfaces.Gyro gyro)
void	setSettlingTime(double settlingTime)
void	setStrength(double strength)
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

StabilityModule

public StabilityModule(edu.wpi.first.wpilibj.interfaces.Gyro gyro,
                       double strength,
                       double settlingTime)

Default constructor

Parameters:

gyro - the gyroscope which determines the robot's heading

strength - the stabilizing strength (higher values may become unstable, recommended ~0.02. Values must be greater than or equal to 0)

settlingTime - the amount of time to allow the drivetrain to settle after turn inputs stop before applying turn corrections

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

setClock

public void setClock(Clock clock)

setGyro

public void setGyro(edu.wpi.first.wpilibj.interfaces.Gyro gyro)

setSettlingTime

public void setSettlingTime(double settlingTime)

setTurnThreshold

public void setTurnThreshold(double turnThreshold)

setStrength

public void setStrength(double strength)

reset

public void reset()

Resets the desired heading of the robot to match the gyro