Package org.team1540.rooster.drive.pipeline

Class AdvancedArcadeJoystickInput

java.lang.Object

org.team1540.rooster.drive.pipeline.AdvancedArcadeJoystickInput

All Implemented Interfaces:

Supplier<TankDriveData>, Input<TankDriveData>

public class AdvancedArcadeJoystickInput
extends Object
implements Input<TankDriveData>

Modified arcade drive joystick input. This arcade drive uses one throttle input and two wheel inputs (soft and hard). The soft wheel input is multiplied by the absolute value of the throttle input before being used, while the hard is not—this allows for smoother control of the robot's path at a variety of speeds. The core algorithm is adapted from Team 2471's drive code, which can be found here.

This class is an Input that provides a TankDriveData. The resulting TankDriveData will have the left and right feed-forwards set to throttles between -1 and 1. All other values are empty OptionalDoubles.

See Also:

Input, FeedForwardProcessor

Constructor Summary

Constructors

Constructor	Description
AdvancedArcadeJoystickInput(boolean reverseBackwards, @NotNull DoubleSupplier throttleInput, @NotNull DoubleSupplier softTurnInput, @NotNull DoubleSupplier hardTurnInput)	Creates a new AdvancedArcadeJoystickInput.
AdvancedArcadeJoystickInput(@NotNull DoubleSupplier throttleInput, @NotNull DoubleSupplier softTurnInput, @NotNull DoubleSupplier hardTurnInput)	Creates a new AdvancedArcadeJoystickInput that does not reverse while going backwards.

Method Summary

Modifier and Type	Method	Description
TankDriveData	get()	Gets the desired output.

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.team1540.rooster.functional.Input

then, then

Constructor Detail

AdvancedArcadeJoystickInput

public AdvancedArcadeJoystickInput(@NotNull
                                   @NotNull DoubleSupplier throttleInput,
                                   @NotNull
                                   @NotNull DoubleSupplier softTurnInput,
                                   @NotNull
                                   @NotNull DoubleSupplier hardTurnInput)

Creates a new AdvancedArcadeJoystickInput that does not reverse while going backwards.

Parameters:

throttleInput - A DoubleSupplier that supplies the input for the throttle, from -1 to 1 inclusive.

softTurnInput - A DoubleSupplier that supplies the input for the soft-turn, from -1 (full left) to 1 (full right) inclusive.

hardTurnInput - A DoubleSupplier that supplies the input for the soft-turn, from -1 to 1 inclusive.

AdvancedArcadeJoystickInput

public AdvancedArcadeJoystickInput(boolean reverseBackwards,
                                   @NotNull
                                   @NotNull DoubleSupplier throttleInput,
                                   @NotNull
                                   @NotNull DoubleSupplier softTurnInput,
                                   @NotNull
                                   @NotNull DoubleSupplier hardTurnInput)

Creates a new AdvancedArcadeJoystickInput.

Parameters:

reverseBackwards - If true, reverses the direction of the soft turn when the throttle is negative.

throttleInput - A DoubleSupplier that supplies the input for the throttle, from -1 to 1 inclusive.

softTurnInput - A DoubleSupplier that supplies the input for the soft-turn, from -1 (full left) to 1 (full right) inclusive.

hardTurnInput - A DoubleSupplier that supplies the input for the soft-turn, from -1 to 1 inclusive.

Method Detail

get

public TankDriveData get()

Gets the desired output.

Specified by:

get in interface Supplier<TankDriveData>

Returns:

A TankDriveData with only the left and right velocity fields specified.