Package com.stuypulse.robot.util

Class TranslationMotionProfile

java.lang.Object

com.stuypulse.robot.util.TranslationMotionProfile

public class TranslationMotionProfile
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
private final Number	accelerationLimit
private static final int	kDefaultSteps
private edu.wpi.first.math.geometry.Translation2d	output
private double	previousTime
private final int	steps
private edu.wpi.first.math.geometry.Translation2d	velocity
private final Number	velocityLimit

Constructor Summary

Constructors

Constructor	Description
TranslationMotionProfile(Number velLimit, Number accelLimit)
TranslationMotionProfile(Number velLimit, Number accelLimit, edu.wpi.first.math.geometry.Translation2d startingTranslation, edu.wpi.first.math.geometry.Translation2d startingVelocity)
TranslationMotionProfile(Number velLimit, Number accelLimit, edu.wpi.first.math.geometry.Translation2d startingTranslation, edu.wpi.first.math.geometry.Translation2d startingVelocity, int steps)

Method Summary

Modifier and Type	Method	Description
private static edu.wpi.first.math.geometry.Translation2d	clamp(edu.wpi.first.math.geometry.Translation2d translation, double maxMagnitude)
edu.wpi.first.math.geometry.Translation2d	get(edu.wpi.first.math.geometry.Translation2d target)
static edu.wpi.first.math.geometry.Translation2d	normalize(edu.wpi.first.math.geometry.Translation2d translation)
private double	resetTimer()

Methods inherited from class java.lang.Object

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

Field Details

kDefaultSteps

private static final int kDefaultSteps

See Also:

• Constant Field Values

velocityLimit

private final Number velocityLimit

accelerationLimit

private final Number accelerationLimit

output

private edu.wpi.first.math.geometry.Translation2d output

velocity

private edu.wpi.first.math.geometry.Translation2d velocity

steps

private final int steps

previousTime

private double previousTime

Constructor Details

TranslationMotionProfile

public TranslationMotionProfile(Number velLimit,
 Number accelLimit,
 edu.wpi.first.math.geometry.Translation2d startingTranslation,
 edu.wpi.first.math.geometry.Translation2d startingVelocity,
 int steps)

TranslationMotionProfile

public TranslationMotionProfile(Number velLimit,
 Number accelLimit,
 edu.wpi.first.math.geometry.Translation2d startingTranslation,
 edu.wpi.first.math.geometry.Translation2d startingVelocity)

TranslationMotionProfile

public TranslationMotionProfile(Number velLimit,
 Number accelLimit)

Method Details

clamp

private static edu.wpi.first.math.geometry.Translation2d clamp(edu.wpi.first.math.geometry.Translation2d translation,
 double maxMagnitude)

normalize

public static edu.wpi.first.math.geometry.Translation2d normalize(edu.wpi.first.math.geometry.Translation2d translation)

get

public edu.wpi.first.math.geometry.Translation2d get(edu.wpi.first.math.geometry.Translation2d target)

resetTimer

private double resetTimer()