Package org.team1540.rooster.drive.pipeline

Class FeedForwardToVelocityProcessor

java.lang.Object

org.team1540.rooster.drive.pipeline.FeedForwardToVelocityProcessor

All Implemented Interfaces:

Function<TankDriveData,TankDriveData>, Processor<TankDriveData,TankDriveData>

public class FeedForwardToVelocityProcessor
extends Object
implements Processor<TankDriveData,TankDriveData>

Processor that converts a feed-forward/throttle into a velocity setpoint. This processor multiplies each feed-forward by the maximum velocity of the robot. This is useful when running closed-loop teleop drive code (as joystick inputs usually provide feed-forwards).

Constructor Summary

Constructors

Constructor	Description
FeedForwardToVelocityProcessor(double maxVelocity)	Creates a new FeedForwardToVelocityProcessor that clears feed-forwards in the returned data.
FeedForwardToVelocityProcessor(double maxVelocity, boolean clearFeedForwards)	Creates a new FeedForwardToVelocityProcessor.
FeedForwardToVelocityProcessor(DoubleSupplier maxVelSupplier, boolean clearFeedForwards)	Creates a new FeedForwardToVelocityProcessor.

Method Summary

Modifier and Type	Method	Description
TankDriveData	apply(TankDriveData data)

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.util.function.Function

andThen, compose

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

followedBy, process

Constructor Detail

FeedForwardToVelocityProcessor

public FeedForwardToVelocityProcessor(double maxVelocity)

Creates a new FeedForwardToVelocityProcessor that clears feed-forwards in the returned data.

Parameters:

maxVelocity - The maximum velocity of the robot.

FeedForwardToVelocityProcessor

public FeedForwardToVelocityProcessor(double maxVelocity,
                                      boolean clearFeedForwards)

Creates a new FeedForwardToVelocityProcessor.

Parameters:

maxVelocity - The maximum velocity of the robot.

clearFeedForwards - Whether to set the feed-forwards in the TankDriveData to empty OptionalDoubles. If true, the value will be cleared; if false, it will be passed through as-is.

FeedForwardToVelocityProcessor

public FeedForwardToVelocityProcessor(DoubleSupplier maxVelSupplier,
                                      boolean clearFeedForwards)

Creates a new FeedForwardToVelocityProcessor.

Parameters:

maxVelSupplier - A supplier that supplies the maximum velocity of the robot.

clearFeedForwards - Whether to set the feed-forwards in the TankDriveData to empty OptionalDoubles. If true, the value will be cleared; if false, it will be passed through as-is.

Method Detail

apply

public TankDriveData apply(TankDriveData data)

Specified by:

apply in interface Function<TankDriveData,TankDriveData>