Package xbot.common.subsystems.drive.control_logic

Class HeadingAssistModule.HeadingAssistModuleFactory

java.lang.Object

xbot.common.subsystems.drive.control_logic.HeadingAssistModule.HeadingAssistModuleFactory

Enclosing class:

HeadingAssistModule

@AssistedFactory
public abstract static class HeadingAssistModule.HeadingAssistModuleFactory
extends Object

Constructor Summary

Constructors

Constructor	Description
HeadingAssistModuleFactory()

Method Summary

Modifier and Type	Method	Description
HeadingAssistModule	create(HeadingModule headingModule, String prefix)
abstract HeadingAssistModule	create(HeadingModule headingModule, HeadingModule decayModule, String prefix)	Creates a heading assist module.

Methods inherited from class java.lang.Object

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

Constructor Details

HeadingAssistModuleFactory

public HeadingAssistModuleFactory()

Method Details

create

public abstract HeadingAssistModule create(@Assisted("headingModule")
 HeadingModule headingModule,
 @Assisted("decayModule")
 HeadingModule decayModule,
 @Assisted("prefix")
 String prefix)

Creates a heading assist module. Can either hold an orientation, or resist rotational motion.

Parameters:

headingModule - Tune this one to rotate to a target orientation (PD, or PID controller)

decayModule - Tune this one to resist rotation (D controller)

Returns:

HeadingAssistModule instance

create

public HeadingAssistModule create(HeadingModule headingModule,
 String prefix)