Package frc.team1711.swerve.util.odometry

Interface Manner.SpeedSupplier

All Known Subinterfaces:

MovementManner.MovementSpeedSupplier, TurnManner.TurnSpeedSupplier

Enclosing class:

Manner

Functional Interface:

This is a functional interface and can therefore be used as the assignment target for a lambda expression or method reference.

@FunctionalInterface
public static interface Manner.SpeedSupplier

A functional interface which gets the speed the robot should perform an abstract autonomous task given the amount left to be completed.

IMPLEMENTATION NOTE: The interfaces which extend SpeedSupplier do not actually make changes, but are specific to MovementManner or TurnManner for clarity. Because of this, any SpeedSupplier class can be casted to any other class which extends SpeedSupplier.

See Also:

MovementManner.MovementSpeedSupplier, TurnManner.TurnSpeedSupplier

Method Summary

Modifier and Type	Method	Description
static Manner.SpeedSupplier	constantSpeed(double speed)	Returns a Manner.SpeedSupplier representing a constant speed at all points in the given autonomous task.
double	getSpeed(double remaining)	Gets the speed the robot should perform the autonomous task at.
static Manner.SpeedSupplier	speedWithSlowdown(double maxSpeed, double slowdownOffset, double minSpeed)	Returns a Manner.SpeedSupplier representing a speed that slows down after a certain proximity to the endpoint of the autonomous task, until a minimum speed is hit.

Method Detail

getSpeed

double getSpeed(double remaining)

Gets the speed the robot should perform the autonomous task at.

Parameters:

remaining - The amount already completed, in an arbitrary unit.

Returns:

The speed the robot should perform the task at, on the interval [0, 1].

constantSpeed

static Manner.SpeedSupplier constantSpeed(double speed)

Returns a Manner.SpeedSupplier representing a constant speed at all points in the given autonomous task.

Parameters:

speed - The constant robot speed along the path.

Returns:

The equivalent Manner.SpeedSupplier.

speedWithSlowdown

static Manner.SpeedSupplier speedWithSlowdown(double maxSpeed,
                                              double slowdownOffset,
                                              double minSpeed)

Returns a Manner.SpeedSupplier representing a speed that slows down after a certain proximity to the endpoint of the autonomous task, until a minimum speed is hit. That is, this type of Manner.SpeedSupplier will return a given default (maximum) speed up until the robot must slow down (the slowdown offset). Then, the robot will slow down proportionally after the slowdown offset. However, the robot will not slow down past a given minimum speed.

Parameters:

maxSpeed - The speed the robot will move/complete the autonomous task at for the majority of the path.

slowdownOffset - The point (in units for distance, rotation, etc.) from the end position of the autonomous task at which the robot will begin proportionally slowing down.

minSpeed - After the slowdown offset, the robot will not move any slower than minSpeed. This is to prevent the robot moving so slowly that friction or some other force prevents the robot from fully completing the autonomous path.

Returns:

A Manner.SpeedSupplier described by the given parameters.