Package com.stuypulse.robot.util

Class HolonomicController

java.lang.Object
com.stuypulse.robot.util.HolonomicController
public class HolonomicController extends Object

  • Constructor Summary

    Constructors
    Constructor
    Description
    HolonomicController(com.stuypulse.stuylib.control.Controller xController, com.stuypulse.stuylib.control.Controller yController, com.stuypulse.stuylib.control.angle.AngleController angleController)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.math.kinematics.ChassisSpeeds
    getError()
     
    edu.wpi.first.math.kinematics.ChassisSpeeds
    getOutput()
     
    boolean
    isDone(double xToleranceMeters, double yToleranceMeters, double angleToleranceDegrees)
     
    edu.wpi.first.math.kinematics.ChassisSpeeds
    update(edu.wpi.first.math.geometry.Pose2d setpoint, edu.wpi.first.math.geometry.Pose2d measurement)
     

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • HolonomicController

      public HolonomicController(com.stuypulse.stuylib.control.Controller xController, com.stuypulse.stuylib.control.Controller yController, com.stuypulse.stuylib.control.angle.AngleController angleController)

  • Method Details

    • update

      public edu.wpi.first.math.kinematics.ChassisSpeeds update(edu.wpi.first.math.geometry.Pose2d setpoint, edu.wpi.first.math.geometry.Pose2d measurement)

    • getOutput

      public edu.wpi.first.math.kinematics.ChassisSpeeds getOutput()

    • getError

      public edu.wpi.first.math.kinematics.ChassisSpeeds getError()

    • isDone

      public boolean isDone(double xToleranceMeters, double yToleranceMeters, double angleToleranceDegrees)