Package com.stuypulse.stuylib.streams.angles.filters

Class AMotionProfile

java.lang.Object

com.stuypulse.stuylib.streams.angles.filters.AMotionProfile

All Implemented Interfaces:

AFilter

public class AMotionProfile
extends Object
implements AFilter

A filter, that when applied to the input of a motor, will profile it. Similar to the way in which motion profiling can limit the amount of acceleration and jerk in an S-Curve, this can do that to real time input. Because this will add a delay, it is recommended that the accelLimit is as high as possible. Aside from the accelLimit, this is identical to a SlewRateLimiter or TimedRateLimit.

Constructor Summary

Constructors

Constructor	Description
AMotionProfile(Number velLimit, Number accelLimit)
AMotionProfile(Number velLimit, Number accelLimit, int steps)

Method Summary

Modifier and Type	Method	Description
Angle	get(Angle target)	Get next value in Filter based on the next value given

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.stuypulse.stuylib.streams.angles.filters.AFilter

add, invert, sub, then

Constructor Details

AMotionProfile

public AMotionProfile(Number velLimit,
 Number accelLimit,
 int steps)

Parameters:

velLimit - maximum change in velocity per second (u/s)

accelLimit - maximum change in acceleration per second (u/s/s)

steps - number of times to apply filter (improves accuracy)

AMotionProfile

public AMotionProfile(Number velLimit,
 Number accelLimit)

Parameters:

velLimit - maximum change in velocity per second (u/s)

accelLimit - maximum change in acceleration per second (u/s/s)

Method Details

get

public Angle get(Angle target)

Description copied from interface: AFilter

Get next value in Filter based on the next value given

Specified by:

get in interface AFilter

Parameters:

target - next input value in the stream

Returns:

the output value of the filter