Package com.stuypulse.stuylib.streams.vectors.filters

Class VMotionProfile

java.lang.Object

com.stuypulse.stuylib.streams.vectors.filters.VMotionProfile

All Implemented Interfaces:

VFilter

public class VMotionProfile
extends Object
implements VFilter

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

Method Summary

Modifier and Type	Method	Description
Vector2D	get(Vector2D 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.vectors.filters.VFilter

add, sub, then

Constructor Details

VMotionProfile

public VMotionProfile(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)

VMotionProfile

public VMotionProfile(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 Vector2D get(Vector2D target)

Description copied from interface: VFilter

Get next value in Filter based on the next value given

Specified by:

get in interface VFilter

Parameters:

target - next input value in the stream

Returns:

the output value of the filter