Package com.thegongoliers.output.drivetrain

Class TargetAlignmentModule

java.lang.Object

com.thegongoliers.output.drivetrain.TargetAlignmentModule

All Implemented Interfaces:

DriveModule

public class TargetAlignmentModule
extends java.lang.Object
implements DriveModule

A drivetrain module which align to vision targets

Constructor Summary

Constructors

Constructor	Description
TargetAlignmentModule(TargetingCamera camera, double aimStrength, double rangeStrength, boolean shouldSeek)
TargetAlignmentModule(TargetingCamera camera, com.kylecorry.pid.PID aimPID, com.kylecorry.pid.PID rangePID, boolean shouldSeek)

Method Summary

Modifier and Type	Method	Description
void	align(double desiredHorizontalOffset, double desiredTargetArea)
boolean	isAligning()
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	setAimPID(com.kylecorry.pid.PID aimPID)
void	setAimThreshold(double threshold)
void	setRangePID(com.kylecorry.pid.PID rangePID)
void	setRangeThreshold(double threshold)
void	setSeekSpeed(double speed)
void	setShouldSeek(boolean shouldSeek)
void	stopAligning()

Methods inherited from class java.lang.Object

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

Constructor Detail

TargetAlignmentModule

public TargetAlignmentModule(TargetingCamera camera,
                             double aimStrength,
                             double rangeStrength,
                             boolean shouldSeek)

TargetAlignmentModule

public TargetAlignmentModule(TargetingCamera camera,
                             com.kylecorry.pid.PID aimPID,
                             com.kylecorry.pid.PID rangePID,
                             boolean shouldSeek)

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

align

public void align(double desiredHorizontalOffset,
                  double desiredTargetArea)

stopAligning

public void stopAligning()

isAligning

public boolean isAligning()

setShouldSeek

public void setShouldSeek(boolean shouldSeek)

setSeekSpeed

public void setSeekSpeed(double speed)

setRangeThreshold

public void setRangeThreshold(double threshold)

setAimThreshold

public void setAimThreshold(double threshold)

setRangePID

public void setRangePID(com.kylecorry.pid.PID rangePID)

setAimPID

public void setAimPID(com.kylecorry.pid.PID aimPID)