Package com.thegongoliers.output.drivetrain

Class VelocityControlModule

java.lang.Object

com.thegongoliers.output.drivetrain.VelocityControlModule

All Implemented Interfaces:

DriveModule

public class VelocityControlModule
extends java.lang.Object
implements DriveModule

A drivetrain module which will set the wheel velocity rather than percent power

Constructor Summary

Constructors

Constructor	Description
VelocityControlModule(edu.wpi.first.wpilibj.Encoder leftEncoder, edu.wpi.first.wpilibj.Encoder rightEncoder, double maxVelocity, double strength)	Default constructor
VelocityControlModule(edu.wpi.first.wpilibj.Encoder leftEncoder, edu.wpi.first.wpilibj.Encoder rightEncoder, double maxVelocity, com.kylecorry.pid.PID velocityPID)	Default constructor

Method Summary

Modifier and Type	Method	Description
DriveSpeed	run(DriveSpeed currentSpeed, DriveSpeed desiredSpeed, double deltaTime)	Run the drive module
void	setLeftEncoder(edu.wpi.first.wpilibj.Encoder leftEncoder)
void	setMaxVelocity(double maxVelocity)
void	setPID(com.kylecorry.pid.PID pid)
void	setRightEncoder(edu.wpi.first.wpilibj.Encoder rightEncoder)

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

VelocityControlModule

public VelocityControlModule(edu.wpi.first.wpilibj.Encoder leftEncoder,
                             edu.wpi.first.wpilibj.Encoder rightEncoder,
                             double maxVelocity,
                             double strength)

Default constructor

Parameters:

leftEncoder - the left encoder

rightEncoder - the right encoder

maxVelocity - the maximum velocity of the robot in the same units as the encoder's rate (something / second)

strength - the velocity correction strength

VelocityControlModule

public VelocityControlModule(edu.wpi.first.wpilibj.Encoder leftEncoder,
                             edu.wpi.first.wpilibj.Encoder rightEncoder,
                             double maxVelocity,
                             com.kylecorry.pid.PID velocityPID)

Default constructor

Parameters:

leftEncoder - the left encoder

rightEncoder - the right encoder

maxVelocity - the maximum velocity of the robot in the same units as the encoder's rate (something / second)

velocityPID - the PID to control velocity

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

setLeftEncoder

public void setLeftEncoder(edu.wpi.first.wpilibj.Encoder leftEncoder)

setRightEncoder

public void setRightEncoder(edu.wpi.first.wpilibj.Encoder rightEncoder)

setPID

public void setPID(com.kylecorry.pid.PID pid)

setMaxVelocity

public void setMaxVelocity(double maxVelocity)