Class DriveTurnInputProcessor

java.lang.Object

com.stuypulse.robot.util.swerve.DriveTurnInputProcessor

public class DriveTurnInputProcessor
extends Object

DriveTurnInputProcessor

Class for processing driver turn input for the drivetrain. It's intended to replace StuyLib's IStream and Filters and use pure WPILib and Java.

This will be used to be as close as the original StuyLib implementation as possible It will be used for

• Applying deadbands
• Applying power curves
• Applying max angular velocity
• Applying a low pass filter

To use within a command, create an instance of this class and call the update() method in the start of the Command.

To get the processed speed, call the get() method.

Field Summary

Fields

Modifier and Type	Field	Description
private final org.wpilib.command3.button.CommandGamepad	controller
private final double	deadband
private final org.wpilib.math.filter.LinearFilter	lowPassFilter
private final org.wpilib.units.measure.AngularVelocity	maxAngularVelocity	The max angular velocity in radians per second
private final double	power
private double	processedAngularVelocity	The processed angular velocity after the full processing and filtering.

Constructor Summary

Constructors

Constructor	Description
DriveTurnInputProcessor(org.wpilib.command3.button.CommandGamepad controller, double deadband, double power, org.wpilib.units.measure.AngularVelocity maxAngularVelocity, double rc)	Constructor for the DriveInputProcessor

Method Summary

Modifier and Type	Method	Description
private DriveTurnInputProcessor	applyDeadband()	Applies a deadband to the current processedAngularVelocity value.
private DriveTurnInputProcessor	applyLowPassFilter()	Applies a low pass filter to processedAngularVelocity using a LinearFilter.
private DriveTurnInputProcessor	applyPowerCurve()	Apply a power curve to the current processedAngularVelocity value.
private DriveTurnInputProcessor	applyScalingToMaxAngularVelocity()	Scale the processedAngularVelocity value to the robot's maximum velocity.
org.wpilib.units.measure.AngularVelocity	get()	Get the processed angular velocity
private DriveTurnInputProcessor	getRightX()	Read the raw joystick axis value for the right X axis and store it in processedAngularVelocity
void	update()	Update method that processes all filters and updates the filtered angular velocity.

Methods inherited from class Object

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

Field Details

controller

private final org.wpilib.command3.button.CommandGamepad controller

deadband

private final double deadband

power

private final double power

maxAngularVelocity

private final org.wpilib.units.measure.AngularVelocity maxAngularVelocity

The max angular velocity in radians per second

lowPassFilter

private final org.wpilib.math.filter.LinearFilter lowPassFilter

processedAngularVelocity

private double processedAngularVelocity

The processed angular velocity after the full processing and filtering.

Constructor Details

DriveTurnInputProcessor

public DriveTurnInputProcessor(org.wpilib.command3.button.CommandGamepad controller,
 double deadband,
 double power,
 org.wpilib.units.measure.AngularVelocity maxAngularVelocity,
 double rc)

Constructor for the DriveInputProcessor

Creates a new DriveInputProcessor with the specified parameters processes the input periodically.

Parameters:

controller - The CommandXboxController to get driver input from

deadband - The deadband to apply to the input (0-1)

power - The power to apply to the input

maxAngularVelocity - The maximum angular velocity to scale the input to (radians/s)

rc - The time constant for the low pass filter (seconds)

Method Details

getRightX

private DriveTurnInputProcessor getRightX()

Read the raw joystick axis value for the right X axis and store it in processedAngularVelocity

Returns:

This instance of the class

applyDeadband

private DriveTurnInputProcessor applyDeadband()

Applies a deadband to the current processedAngularVelocity value.

Returns:

This instance of the class

applyPowerCurve

private DriveTurnInputProcessor applyPowerCurve()

Apply a power curve to the current processedAngularVelocity value.

Returns:

This instance of the class

applyScalingToMaxAngularVelocity

private DriveTurnInputProcessor applyScalingToMaxAngularVelocity()

Scale the processedAngularVelocity value to the robot's maximum velocity.

Returns:

This instance of the class

applyLowPassFilter

private DriveTurnInputProcessor applyLowPassFilter()

Applies a low pass filter to processedAngularVelocity using a LinearFilter. This smooths out the input and reduces noise.

Returns:

This instance of the class

update

public void update()

Update method that processes all filters and updates the filtered angular velocity. This should be called once per cycle in the Command using this processor, before retrieving the processed angular velociy via get().

get

public org.wpilib.units.measure.AngularVelocity get()

Get the processed angular velocity

Returns:

The processed angular velocity