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	mSnapD
static final LoggedTunableNumber	mSnapI
static final LoggedTunableNumber	mSnapMaxADPSS
static final LoggedTunableNumber	mSnapMaxVDPS
static final LoggedTunableNumber	mSnapP
static final LoggedTunableNumber	mToleranceDegrees

Constructor Summary

Constructors

Constructor	Description
HeadingController()

Method Summary

Modifier and Type	Method	Description
double	getSnapOutput(edu.wpi.first.math.geometry.Rotation2d pRobotRotation)
double	getStabilizingOutput(edu.wpi.first.math.geometry.Rotation2d pRobotRotation, double pVelocityDPS)
void	reset(edu.wpi.first.math.geometry.Rotation2d pRobotRotation, edu.wpi.first.math.geometry.Rotation2d pRobotRotationPerSecond)
void	setHeadingGoal(Supplier<edu.wpi.first.math.geometry.Rotation2d> pGoalSupplier)
void	updateHeadingController()

Methods inherited from class java.lang.Object

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

Field Details

mSnapP

public static final LoggedTunableNumber mSnapP

mSnapI

public static final LoggedTunableNumber mSnapI

mSnapD

public static final LoggedTunableNumber mSnapD

mSnapMaxVDPS

public static final LoggedTunableNumber mSnapMaxVDPS

mSnapMaxADPSS

public static final LoggedTunableNumber mSnapMaxADPSS

mToleranceDegrees

public static final LoggedTunableNumber mToleranceDegrees

Constructor Details

HeadingController

public HeadingController()

Method Details

setHeadingGoal

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

reset

public void reset(edu.wpi.first.math.geometry.Rotation2d pRobotRotation,
 edu.wpi.first.math.geometry.Rotation2d pRobotRotationPerSecond)

getSnapOutput

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

getStabilizingOutput

public double getStabilizingOutput(edu.wpi.first.math.geometry.Rotation2d pRobotRotation,
 double pVelocityDPS)

updateHeadingController

public void updateHeadingController()