Package com.thegongoliers.output.drivetrain

Class VoltageControlModule

java.lang.Object

com.thegongoliers.output.drivetrain.VoltageControlModule

All Implemented Interfaces:

DriveModule

public class VoltageControlModule
extends java.lang.Object
implements DriveModule

Ensures that the drivetrain runs at a consistent voltage, compensating for battery voltage fluctuations

Constructor Summary

Constructors

Constructor	Description
VoltageControlModule(double maxVoltage)
VoltageControlModule(double maxVoltage, VoltageSensor batteryVoltage)

Method Summary

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

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

VoltageControlModule

public VoltageControlModule(double maxVoltage,
                            VoltageSensor batteryVoltage)

Parameters:

maxVoltage - The maximum voltage of the drivetrain motors when the input speed is 1 (in volts)

batteryVoltage - The battery voltage sensor

VoltageControlModule

public VoltageControlModule(double maxVoltage)

Parameters:

maxVoltage - The maximum voltage of the drivetrain motors when the input speed is 1 (in volts)

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

setMaxVoltage

public void setMaxVoltage(double maxVoltage)