Package com.thegongoliers.output.drivetrain

Class TractionControlModule

java.lang.Object

com.thegongoliers.output.drivetrain.EncoderStabilityModule

All Implemented Interfaces:

DriveModule

public class TractionControlModule
extends java.lang.Object
implements DriveModule

A drivetrain module which work to prevent wheel slip while driving straight

Constructor Summary

Constructors

Constructor	Description
TractionControlModule(edu.wpi.first.wpilibj.Encoder leftEncoder, edu.wpi.first.wpilibj.Encoder rightEncoder, double strength, double slipThreshold)	Default constructor

Method Summary

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

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

TractionControlModule

public TractionControlModule(edu.wpi.first.wpilibj.Encoder leftEncoder,
                             edu.wpi.first.wpilibj.Encoder rightEncoder,
                             double strength,
                             double slipThreshold)

Default constructor

Parameters:

leftEncoder - the left encoder

rightEncoder - the right encoder

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

slipThreshold - the maximum slip ratio to consider as slipping

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