Package frc.robot.systems.drive.controllers

Class HeadingController

java.lang.Object

frc.robot.systems.drive.controllers.HeadingController

public class HeadingController
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
static final LoggedTunableNumber	snapD
static final LoggedTunableNumber	snapI
static final LoggedTunableNumber	snapMaxADPSS
static final LoggedTunableNumber	snapMaxVDPS
static final LoggedTunableNumber	snapP
static final LoggedTunableNumber	toleranceDegrees

Constructor Summary

Constructors

Constructor	Description
HeadingController()

Method Summary

Modifier and Type	Method	Description
double	getSnapOutput(edu.wpi.first.math.geometry.Rotation2d robotRotation)
double	getStabilizingOutput(edu.wpi.first.math.geometry.Rotation2d robotRotation, double velocityDPS)
void	reset(edu.wpi.first.math.geometry.Rotation2d robotRotation, edu.wpi.first.math.geometry.Rotation2d robotRotationPerSecond)
void	setHeadingGoal(Supplier<edu.wpi.first.math.geometry.Rotation2d> goalSupplier)
void	updateHeadingController()

Methods inherited from class java.lang.Object

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

Field Details

snapP

public static final LoggedTunableNumber snapP

snapI

public static final LoggedTunableNumber snapI

snapD

public static final LoggedTunableNumber snapD

snapMaxVDPS

public static final LoggedTunableNumber snapMaxVDPS

snapMaxADPSS

public static final LoggedTunableNumber snapMaxADPSS

toleranceDegrees

public static final LoggedTunableNumber toleranceDegrees

Constructor Details

HeadingController

public HeadingController()

Method Details

setHeadingGoal

public void setHeadingGoal(Supplier<edu.wpi.first.math.geometry.Rotation2d> goalSupplier)

reset

public void reset(edu.wpi.first.math.geometry.Rotation2d robotRotation,
 edu.wpi.first.math.geometry.Rotation2d robotRotationPerSecond)

getSnapOutput

public double getSnapOutput(edu.wpi.first.math.geometry.Rotation2d robotRotation)

getStabilizingOutput

public double getStabilizingOutput(edu.wpi.first.math.geometry.Rotation2d robotRotation,
 double velocityDPS)

updateHeadingController

public void updateHeadingController()