com.first.team2052.lib

Class TrajectoryFollower

java.lang.Object

com.first.team2052.lib.TrajectoryFollower

public class TrajectoryFollower
extends java.lang.Object

Use built in Talon SRX motion profiling, if you cannot, use this instead (for PWM speed controllers)

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	TrajectoryFollower.TrajectoryConfig
static class	TrajectoryFollower.TrajectorySetpoint

Constructor Summary

Constructors

Constructor and Description
TrajectoryFollower()

Method Summary

Modifier and Type	Method and Description
double	calculate(double position)
void	configure(double kp, double ki, double kd, double kv, double ka, TrajectoryFollower.TrajectoryConfig config)
TrajectoryFollower.TrajectoryConfig	getConfig()
TrajectoryFollower.TrajectorySetpoint	getCurrentSetpoint()
double	getGoal()
boolean	isFinishedTrajectory()
void	setConfig(TrajectoryFollower.TrajectoryConfig config)
void	setGoal(TrajectoryFollower.TrajectorySetpoint current_state, double goal_position)

Methods inherited from class java.lang.Object

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

Constructor Detail

TrajectoryFollower

public TrajectoryFollower()

Method Detail

configure

public void configure(double kp,
                      double ki,
                      double kd,
                      double kv,
                      double ka,
                      TrajectoryFollower.TrajectoryConfig config)

setGoal

public void setGoal(TrajectoryFollower.TrajectorySetpoint current_state,
                    double goal_position)

getGoal

public double getGoal()

getConfig

public TrajectoryFollower.TrajectoryConfig getConfig()

setConfig

public void setConfig(TrajectoryFollower.TrajectoryConfig config)

calculate

public double calculate(double position)

isFinishedTrajectory

public boolean isFinishedTrajectory()

getCurrentSetpoint

public TrajectoryFollower.TrajectorySetpoint getCurrentSetpoint()