Package me.wobblyyyy.pathfinder.tracking

Class AngleTracker

java.lang.Object
me.wobblyyyy.pathfinder.tracking.AngleTracker
public class AngleTracker
extends java.lang.Object
Track an angle based on an encoder.

Angle tracking is actually incredibly simple - use the encoder's CPR and the encoder's count to determine how many ticks equals how many degrees.

Since:
0.1.0
Author:
Colin Robertson

  • Field Summary

    Fields
    Modifier and Type Field Description
    private double angle
    The current angle, measured in degrees.
    private double cpr
    The encoder's CPR.
    private Encoder encoder
    A reference to the encoder that's used in tracking.
    private double tpd
    TPD = Ticks per Degrees.

  • Constructor Summary

    Constructors
    Constructor Description
    AngleTracker​(Encoder encoder)
    Create a new angle tracker.

  • Method Summary

    Modifier and Type Method Description
    double getAngle()
    Get angle.
    Encoder getEncoder()
    Get the encoder used in the tracker.
    void update()
    Update the tracker based on the encoder's count.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • encoder

      private final Encoder encoder
      A reference to the encoder that's used in tracking.

      AngleTracker is a self-sufficient class, meaning that it doesn't need any other parameters fed into it for it to work - it just does its thing. To support this FABULOUS lifestyle, we need to locally store an encoder and get the value from it, rather than outsourcing encoder value reading.

    • cpr

      private final double cpr
      The encoder's CPR.

      CPR, in the event you were unaware, is counts per rotation. In other words, how many times the encoder has to say "hey!" for the code to register that the encoder has rotated fully once.

    • tpd

      private final double tpd
      TPD = Ticks per Degrees.

    • angle

      private double angle
      The current angle, measured in degrees.

      This value should always be within the defined range of (0) to (360). It isn't required for some mathematical complexity or anything - it's just a matter of personal preference.

  • Constructor Details

    • AngleTracker

      public AngleTracker​(Encoder encoder)
      Create a new angle tracker.
      Parameters:
      encoder - the encoder to be used.

  • Method Details

    • update

      public void update()
      Update the tracker based on the encoder's count.

    • getAngle

      public double getAngle()
      Get angle.

      Hit da Nae-Nae? Hell to the yeah.

      Returns:
      angle.

    • getEncoder

      public Encoder getEncoder()
      Get the encoder used in the tracker.
      Returns:
      the tracker's encoder.