Package xbot.common.logic

Class HumanVsMachineDecider

java.lang.Object

xbot.common.logic.HumanVsMachineDecider

public class HumanVsMachineDecider
extends Object

Decides whether to use human or machine control of a subsystem. Human control is used when the inputs exceed a deadband. When input stops, control is handed back to the machine after a coast period.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	HumanVsMachineDecider.HumanVsMachineDeciderFactory	Factory for creating a new decider.
static enum	HumanVsMachineDecider.HumanVsMachineMode

Constructor Summary

Constructors

Constructor	Description
HumanVsMachineDecider(String prefix, PropertyFactory propertyFactory)	Creates a new decider with the given prefix.

Method Summary

Modifier and Type	Method	Description
double	getDeadband()	Get the deadband value.
HumanVsMachineDecider.HumanVsMachineMode	getRecommendedMode(double humanInput)	Gets the recommended mode based on the human input.
void	reset()	Resets the decider defaulting to machine control.
void	reset(boolean startInAutomaticMode)	Resets the decider.
void	setDeadband(double value)

Methods inherited from class java.lang.Object

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

Constructor Details

HumanVsMachineDecider

@AssistedInject
public HumanVsMachineDecider(@Assisted("prefix")
 String prefix,
 PropertyFactory propertyFactory)

Creates a new decider with the given prefix.

Parameters:

prefix - The prefix to use for all properties created by this decider.

propertyFactory - The property factory to use for creating properties.

Method Details

reset

public void reset()

Resets the decider defaulting to machine control.

reset

public void reset(boolean startInAutomaticMode)

Resets the decider.

Parameters:

startInAutomaticMode - Whether to start in automatic mode.

getRecommendedMode

public HumanVsMachineDecider.HumanVsMachineMode getRecommendedMode(double humanInput)

Gets the recommended mode based on the human input.

Parameters:

humanInput - The human input to use for the decision.

Returns:

The recommended mode.

getDeadband

public double getDeadband()

Get the deadband value.

Returns:

The deadband value.

setDeadband

public void setDeadband(double value)