Package me.wobblyyyy.pathfinder.util

Class RobotProfile

java.lang.Object
me.wobblyyyy.pathfinder.util.RobotProfile
public class RobotProfile
extends java.lang.Object
A robot's movement profile.

Motion profiles are still a work-in-progress here. With that being said, motion profiles SHOULD (hopefully, that is) allow the robot to accurately follow pre-defined paths and routes.

Since:
0.1.0
Author:
Colin Robertson

  • Field Summary

    Fields
    Modifier and Type Field Description
    private double accelerationDistance
    How much distance the robot takes to accelerate.
    private double accelerationTime
    How long, in seconds, the robot takes to accelerate.
    private double decelerationDistance
    How much distance the robot takes to decelerate.
    private double decelerationTime
    How long, in seconds, the robot takes to decelerate.
    private double jerk
    The robot's jerk value.
    private double maxSpeed
    The maximum speed of the robot, measured as feet per second.

  • Constructor Summary

    Constructors
    Constructor Description
    RobotProfile​(double accelerationTime, double decelerationTime, double accelerationDistance, double decelerationDistance, double maxSpeed, double jerk)
    Create a robot profile.

  • Method Summary

    Modifier and Type Method Description
    double getAccelerationDistance()
    Get the robot's acceleration distance.
    double getAccelerationTime()
    Get the robot's acceleration time.
    double getDecelerationDistance()
    Get the robot's deceleration distance.
    double getDecelerationTime()
    Get the robot's deceleration time.
    double getJerk()
    Get the robot's jerk value.
    double getMaxSpeed()
    Get the robot's maximum speed.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • accelerationTime

      private final double accelerationTime
      How long, in seconds, the robot takes to accelerate.

      Acceleration time is defined as the interval of time that passes between when acceleration begins and when the robot reaches its maximum speed. This maximum speed is up to you to decide - however, in order for certain follower profiles to work, this value must be as close to accurate as possible.

    • decelerationTime

      private final double decelerationTime
      How long, in seconds, the robot takes to decelerate.

      Deceleration time, like acceleration time, is defined as the interval of time between two of the robot's states of motions. In the case of deceleration, the amount of time between when the robot, at full speed, stops accelerating, and when the robot actually reaches a complete stop.

    • accelerationDistance

      private final double accelerationDistance
      How much distance the robot takes to accelerate.

      Acceleration distance is defined as the amount of space, in inches, that the robot requires to drive in a straight line and accelerate to its maximum speed.

      Although I can't force you to, these measurements should be in inches. Doing them in any other measurement of distance might break something.

    • decelerationDistance

      private final double decelerationDistance
      How much distance the robot takes to decelerate.

      Deceleration distance is defined as the amount of distance the robot requires to go from its maximum speed to a full and complete stop.

      Although I can't force you to, these measurements should be in inches. Doing them in any other measurement of distance might break something.

    • maxSpeed

      private final double maxSpeed
      The maximum speed of the robot, measured as feet per second.

      Max speed should be the most accurate possible estimate of the robot's maximum speed.

    • jerk

      private final double jerk
      The robot's jerk value.

      In all honesty, I have absolutely no idea what the hell jerk is. I'll update this documentation when I eventually do figure out what that means.

  • Constructor Details

    • RobotProfile

      public RobotProfile​(double accelerationTime, double decelerationTime, double accelerationDistance, double decelerationDistance, double maxSpeed, double jerk)
      Create a robot profile.

      If you're confused about what any of this means, you should go read the JavaDoc in this file - it contains everything you need to know.

      Parameters:
      accelerationTime - acceleration time (stop to max speed), measured in seconds.
      decelerationTime - deceleration time (max speed to stop), measured in seconds.
      accelerationDistance - how far the robot travels while its accelerating.
      decelerationDistance - how far the robot travels while its decelerating.
      maxSpeed - the maximum speed of the robot, measured in terms of feet per second.

  • Method Details

    • getAccelerationTime

      public double getAccelerationTime()
      Get the robot's acceleration time. (seconds)
      Returns:
      the robot's acceleration time. (in second)

    • getDecelerationTime

      public double getDecelerationTime()
      Get the robot's deceleration time. (seconds)
      Returns:
      the robot's deceleration time. (in seconds)

    • getAccelerationDistance

      public double getAccelerationDistance()
      Get the robot's acceleration distance. (feet)
      Returns:
      the amount of distance the robot needs to cover to accelerate.

    • getDecelerationDistance

      public double getDecelerationDistance()
      Get the robot's deceleration distance. (feet)
      Returns:
      the amount of distance the robot needs to cover to decelerate.

    • getMaxSpeed

      public double getMaxSpeed()
      Get the robot's maximum speed. (feet per second)
      Returns:
      the robot's maximum speed. (feet per second)

    • getJerk

      public double getJerk()
      Get the robot's jerk value.
      Returns:
      the robot's maximum jerk.