Package xbot.common.subsystems.drive

Enum Class SwerveSimpleTrajectoryMode

java.lang.Object

java.lang.Enum<SwerveSimpleTrajectoryMode>

xbot.common.subsystems.drive.SwerveSimpleTrajectoryMode

All Implemented Interfaces:

Serializable, Comparable<SwerveSimpleTrajectoryMode>, Constable

public enum SwerveSimpleTrajectoryMode
extends Enum<SwerveSimpleTrajectoryMode>

Different ways to input values for SwerveSimpleTrajectoryCommand

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
ConstantVelocity	A constant velocity (in meters) throughout the course of our travel
DurationInSeconds	A duration from point A to point B throughout the course of our travel NOTE: It is suggested to use ConstantVelocity mode instead for better consistency!
GlobalKinematicsValue	One set of kinematics values for the entire route
KinematicsForIndividualPoints	Each point will have its own set of kinematics values it'll use (acceleration, velocity, etc.) NOTE: You'll have to calculate the start and ending velocities of each individual point! Suggested to use GlobalKinematicsValue instead!

Method Summary

Modifier and Type	Method	Description
static SwerveSimpleTrajectoryMode	valueOf(String name)	Returns the enum constant of this class with the specified name.
static SwerveSimpleTrajectoryMode[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

ConstantVelocity

public static final SwerveSimpleTrajectoryMode ConstantVelocity

A constant velocity (in meters) throughout the course of our travel

DurationInSeconds

public static final SwerveSimpleTrajectoryMode DurationInSeconds

A duration from point A to point B throughout the course of our travel NOTE: It is suggested to use ConstantVelocity mode instead for better consistency!

KinematicsForIndividualPoints

public static final SwerveSimpleTrajectoryMode KinematicsForIndividualPoints

Each point will have its own set of kinematics values it'll use (acceleration, velocity, etc.) NOTE: You'll have to calculate the start and ending velocities of each individual point! Suggested to use GlobalKinematicsValue instead!

GlobalKinematicsValue

public static final SwerveSimpleTrajectoryMode GlobalKinematicsValue

One set of kinematics values for the entire route

Method Details

values

public static SwerveSimpleTrajectoryMode[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static SwerveSimpleTrajectoryMode valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null