Package frc.team88.swerve.motion.state

Class VelocityState

java.lang.Object

frc.team88.swerve.motion.state.VelocityState

All Implemented Interfaces:

NetworkTablePopulator

public class VelocityState
extends java.lang.Object
implements NetworkTablePopulator

Represents a desired state of motion, including the translational velocity.

Constructor Summary

Constructors

Constructor	Description
VelocityState(double translationDirection, double translationSpeed, double rotationVelocity, boolean isFieldCentric)	Constructs this velocity state assuming a center of rotation of [0, 0].
VelocityState(double translationDirection, double translationSpeed, double rotationVelocity, double centerOfRotationX, double centerOfRotationY, boolean isFieldCentric)	Constructs this velocity state with all possible parameters.

Method Summary

Modifier and Type	Method	Description
VelocityState	changeCenterOfRotation(double x, double y)	Creates a new velocity state that is the same as this one, except with the given center of rotation.
VelocityState	changeIsFieldCentric(boolean isFieldCentric)	Creates a new velocity state that is the same as this one, except with the given field-centric setting.
VelocityState	changeRotationVelocity(double velocity)	Creates a new velocity state that is the same as this one, except with the given rotation velocity.
VelocityState	changeTranslationDirection(double direction)	Creates a new velocity state that is the same as this one, except with the given translation direction.
VelocityState	changeTranslationSpeed(double speed)	Creates a new velocity state that is the same as this one, except with the given translation speed.
Vector2D	getCenterOfRotationVector()	Gets the center of rotation as a vector.
double	getCenterOfRotationX()	Gets the x component of the center of rotation.
double	getCenterOfRotationY()	Gets the y component of the center of rotation.
double	getRotationVelocity()	Gets the rotational velocity.
double	getTranslationDirection()	Gets the direction of translation.
double	getTranslationSpeed()	Gets the speed of translation.
Vector2D	getTranslationVector()	Gets a vector representing translation.
boolean	isFieldCentric()	Gets if this velocity state is field-centric.
void	populateNetworkTable(edu.wpi.first.networktables.NetworkTable table)	Populates the given network table with data from this class.

Methods inherited from class java.lang.Object

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

Constructor Detail

VelocityState

public VelocityState(double translationDirection,
                     double translationSpeed,
                     double rotationVelocity,
                     double centerOfRotationX,
                     double centerOfRotationY,
                     boolean isFieldCentric)

Constructs this velocity state with all possible parameters.

Parameters:

translationDirection - The direction to translate, in degrees counting counterclockise from forwards.

translationSpeed - The speed to translate, in feet per second.

rotationVelocity - The angular velocity to rotate, in degrees per second.

centerOfRotationX - The x component of the point to rotate about relative to the robot's origin, in feet. The positive x-axis points forwards on the robot.

centerOfRotationY - The y component of the point to rotate about relative to the robot's origin, in feet. The positive y-axis points left on the robot.

isFieldCentric - True if this state is field-centric, false if it is robot-centric.

VelocityState

public VelocityState(double translationDirection,
                     double translationSpeed,
                     double rotationVelocity,
                     boolean isFieldCentric)

Constructs this velocity state assuming a center of rotation of [0, 0].

Parameters:

translationDirection - The direction to translate, in degrees counting counterclockise from forwards.

translationSpeed - The speed to translate, in feet per second.

rotationVelocity - The angular velocity to rotate, in degrees per second.

isFieldCentric - True if this state is field-centric, false if it is robot-centric.

Method Detail

getTranslationDirection

public double getTranslationDirection()

Gets the direction of translation.

Returns:

The translation direction, in degrees counterclockwise from forwards.

getTranslationSpeed

public double getTranslationSpeed()

Gets the speed of translation.

Returns:

The translation speed, in feet per second.

getTranslationVector

public Vector2D getTranslationVector()

Gets a vector representing translation.

Returns:

The translation velocity vector, in feet per second.

getRotationVelocity

public double getRotationVelocity()

Gets the rotational velocity.

Returns:

The angular velocity, in degrees per second.

getCenterOfRotationX

public double getCenterOfRotationX()

Gets the x component of the center of rotation. The positive x-axis points forwards on the robot.

Returns:

The x component of the center of rotation, in feet.

getCenterOfRotationY

public double getCenterOfRotationY()

Gets the y component of the center of rotation. The positive y-axis points left on the robot.

Returns:

The y component of the center of rotation, in feet.

getCenterOfRotationVector

public Vector2D getCenterOfRotationVector()

Gets the center of rotation as a vector. The positive x-axis points forwards on the robot, while the positive y-axis points left.

Returns:

The center of rotation, in feet.

isFieldCentric

public boolean isFieldCentric()

Gets if this velocity state is field-centric.

Returns:

True if this velocity state is field-centric, false otherwise.

changeTranslationDirection

public VelocityState changeTranslationDirection(double direction)

Creates a new velocity state that is the same as this one, except with the given translation direction.

Parameters:

direction - The translation direction, in degrees counterclockwise from forwards.

Returns:

The new velocity state.

changeTranslationSpeed

public VelocityState changeTranslationSpeed(double speed)

Creates a new velocity state that is the same as this one, except with the given translation speed.

Parameters:

speed - The translation speed, in feet per second.

Returns:

The new velocity state.

changeRotationVelocity

public VelocityState changeRotationVelocity(double velocity)

Creates a new velocity state that is the same as this one, except with the given rotation velocity.

Parameters:

velocity - The rotation velocity, in degrees per second.

Returns:

The new velocity state.

changeCenterOfRotation

public VelocityState changeCenterOfRotation(double x,
                                            double y)

Creates a new velocity state that is the same as this one, except with the given center of rotation.

Parameters:

x - The x component of the center of rotation, in feet. The positive x-axis points forwards on the robot.

y - The y component of the center of rotation, in feet. The positive y-axis points left on the robot.

Returns:

The new velocity state.

changeIsFieldCentric

public VelocityState changeIsFieldCentric(boolean isFieldCentric)

Creates a new velocity state that is the same as this one, except with the given field-centric setting.

Parameters:

isFieldCentric - True if the velocity state should be field-centric, false if it should be robot-centric.

Returns:

The new velocity state.

populateNetworkTable

public void populateNetworkTable(edu.wpi.first.networktables.NetworkTable table)

Description copied from interface: NetworkTablePopulator

Populates the given network table with data from this class. May also read in values.

Specified by:

populateNetworkTable in interface NetworkTablePopulator

Parameters:

table - The table to populate, and possibly read from.