frc.team670.robot.dataCollection

Class Pose

java.lang.Object

frc.team670.robot.dataCollection.Pose

public class Pose
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
Pose() Makes new pose using current robot encoder values and angles.
Pose(double x, double y, double angle, int leftEncoderPosition, int rightEncoderPosition, double leftVelocity, double rightVelocity)
Pose(double x, double y, double angle, int leftEncoderPosition, int rightEncoderPosition, int leftVelocity, int rightVelocity)
Pose(long lEncoderTick, long rEncoderTick, double angle, double leftVelocity, double rightVelocity)
Pose(long lEncoderTick, long rEncoderTick, double angle, long currRobotX, long currRobotY, int leftVelocity, int rightVelocity)

Method Summary

Modifier and Type	Method and Description
double	averagedAngle()
Pose	clone() Returns a copy of this Pose
double	getLeftEncoderTick() The left tick value in Mustang Encoder ticks
double	getLeftVelocity() Gets the left side of the robot's velocity at the time of the pose in ticks/second using Mustang Encoder ticks
long	getPosX() The X Position in Mustang encoder ticks
long	getPosY() The Y Position in Mustang Encoder ticks
double	getRightEncoderTick() The right tick value in Mustang Encoder ticks
double	getRightVelocity() Gets the right side of the robot's velocity at the time of the pose in ticks/second using Mustang Encoder ticks
double	getRobotAngle()
long	getTimeOfPose()
void	update()
void	update(long newLeftEncoderTick, long newRightEncoderTick, double newAngle, double leftVelocity, double rightVelocity) Updates the Pose's position and angle corresponding to the drivebase's ticks and NavX gyro reading.

Methods inherited from class java.lang.Object

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

Constructor Detail

Pose

public Pose()

Makes new pose using current robot encoder values and angles. Does everything in ticks

Pose

public Pose(long lEncoderTick,
            long rEncoderTick,
            double angle,
            double leftVelocity,
            double rightVelocity)

Parameters:

lEncoderTick - Encoder ticks -> forward = positive, backwards = negative

rEncoderTick - Encoder ticks -> forward = positive, backwards = negative

angle - Angle in degrees -> left = negative, right = positive

Pose

public Pose(double x,
            double y,
            double angle,
            int leftEncoderPosition,
            int rightEncoderPosition,
            int leftVelocity,
            int rightVelocity)

Pose

public Pose(double x,
            double y,
            double angle,
            int leftEncoderPosition,
            int rightEncoderPosition,
            double leftVelocity,
            double rightVelocity)

Pose

public Pose(long lEncoderTick,
            long rEncoderTick,
            double angle,
            long currRobotX,
            long currRobotY,
            int leftVelocity,
            int rightVelocity)

Method Detail

update

public void update(long newLeftEncoderTick,
                   long newRightEncoderTick,
                   double newAngle,
                   double leftVelocity,
                   double rightVelocity)

Updates the Pose's position and angle corresponding to the drivebase's ticks and NavX gyro reading.

update

public void update()

getPosX

public long getPosX()

The X Position in Mustang encoder ticks

getPosY

public long getPosY()

The Y Position in Mustang Encoder ticks

getLeftEncoderTick

public double getLeftEncoderTick()

The left tick value in Mustang Encoder ticks

getRightEncoderTick

public double getRightEncoderTick()

The right tick value in Mustang Encoder ticks

getRobotAngle

public double getRobotAngle()

getTimeOfPose

public long getTimeOfPose()

Returns:

the timeOfPose

getLeftVelocity

public double getLeftVelocity()

Gets the left side of the robot's velocity at the time of the pose in ticks/second using Mustang Encoder ticks

getRightVelocity

public double getRightVelocity()

Gets the right side of the robot's velocity at the time of the pose in ticks/second using Mustang Encoder ticks

averagedAngle

public double averagedAngle()

clone

public Pose clone()

Returns a copy of this Pose

Overrides:

clone in class java.lang.Object