Package com.stuypulse.stuylib.streams.numbers.filters

Class MotionProfile

java.lang.Object

com.stuypulse.stuylib.streams.numbers.filters.MotionProfile

All Implemented Interfaces:

IFilter

public class MotionProfile
extends Object
implements IFilter

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
MotionProfile(Number velLimit, Number accelLimit)
MotionProfile(Number velLimit, Number accelLimit, int steps)

Method Summary

Modifier and Type	Method	Description
double	get(double 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.numbers.filters.IFilter

add, invert, sub, then

Constructor Details

MotionProfile

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

Parameters:

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

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

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

MotionProfile

public MotionProfile(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 double get(double target)

Description copied from interface: IFilter

Get next value in Filter based on the next value given

Specified by:

get in interface IFilter

Parameters:

target - next input value in the stream

Returns:

the output value of the filter