Package me.wobblyyyy.pathfinder.kinematics

Class ModuleState

java.lang.Object
me.wobblyyyy.pathfinder.kinematics.ModuleState
Direct Known Subclasses:
SwerveState
public class ModuleState
extends java.lang.Object
Represent the state of a single drive motor module. The power values stored in this module state correspond to 1 being full speed forwards, negative 1 being full speed backwards, 0 being no speed at all, and anything in between representing a combination of two of those values.

Please note that these module states ARE NOT adjusted for motors on one side of the robot spinning in the opposite direction as the other side of the robot. You have to handle this manually, preferably through whatever motor implementation you've chosen to make.

Since:
0.3.0
Author:
Colin Robertson

  • Field Summary

    Fields
    Modifier and Type Field Description
    private double power  

  • Constructor Summary

    Constructors
    Constructor Description
    ModuleState()  
    ModuleState​(double power)  

  • Method Summary

    Modifier and Type Method Description
    double getPower()
    Get the module's suggested power.
    java.lang.String toString()  

    Methods inherited from class java.lang.Object

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

  • Field Details

    • power

      private final double power

  • Constructor Details

    • ModuleState

      public ModuleState()

    • ModuleState

      public ModuleState​(double power)

  • Method Details

    • getPower

      public double getPower()
      Get the module's suggested power.
      Returns:
      the motor's power value. This value is within the range of -1 to 1, with -1 being full speed BACKWARDS and +1 being full speed FORWARDS. A power value of 0 represents that the motor shouldn't be spinning at all. These power values are relative to the center of the robot. If every wheel is set to 1.0 power, the robot should move forwards in a straight line.

    • toString

      public java.lang.String toString()
      Overrides:
      toString in class java.lang.Object