Package xbot.common.subsystems.drive.control_logic

Class HeadingModule

java.lang.Object

xbot.common.subsystems.drive.control_logic.HeadingModule

public class HeadingModule
extends Object

Encapsulates the logic needed to rotate the robot to a specific angle. When using a PD or PID controller, it will attempt to reach that angle. When using a D-only controller, it will just resist any rotational motion.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	HeadingModule.HeadingModuleFactory

Field Summary

Fields

Modifier and Type	Field	Description
final double	defaultPValue

Constructor Summary

Constructors

Constructor	Description
HeadingModule(PIDManager headingDrivePid, BasePoseSubsystem pose, PropertyFactory propMan)

Method Summary

Modifier and Type	Method	Description
double	calculateDeltaHeadingPower(double desiredDeltaHeadingInDegrees)
double	calculateFrozenHeadingPower()
double	calculateHeadingPower(double desiredHeading)
double	calculateHeadingPower(Rotation2d desiredHeading)
void	freezeHeading()
boolean	isOnTarget()
void	reset()

Methods inherited from class java.lang.Object

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

Field Details

defaultPValue

public final double defaultPValue

See Also:

• Constant Field Values

Constructor Details

HeadingModule

@AssistedInject
public HeadingModule(@Assisted("headingDrivePid")
 PIDManager headingDrivePid,
 BasePoseSubsystem pose,
 PropertyFactory propMan)

Method Details

isOnTarget

public boolean isOnTarget()

reset

public void reset()

calculateHeadingPower

public double calculateHeadingPower(double desiredHeading)

calculateHeadingPower

public double calculateHeadingPower(Rotation2d desiredHeading)

calculateDeltaHeadingPower

public double calculateDeltaHeadingPower(double desiredDeltaHeadingInDegrees)

freezeHeading

public void freezeHeading()

calculateFrozenHeadingPower

public double calculateFrozenHeadingPower()