Package frc.team1711.swerve.util.odometry

Class TurnManner

java.lang.Object

frc.team1711.swerve.util.odometry.Manner

frc.team1711.swerve.util.odometry.TurnManner

public class TurnManner
extends Manner

TurnManner describes the way in which the robot performs an autonomous RobotTurn.

See Also:

MovementManner

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	TurnManner.TurnSpeedSupplier	A functional interface which gets the speed the robot should turn at given the remaining angle to turn.

Nested classes/interfaces inherited from class frc.team1711.swerve.util.odometry.Manner

Manner.SpeedSupplier

Field Summary

Fields

Modifier and Type	Field	Description
static TurnManner	NONE	A TurnManner where the robot will not attempt to move and the path will immediately be completed.

Constructor Summary

Constructors

Constructor	Description
TurnManner(double marginOfError, TurnManner.TurnSpeedSupplier speedSupplier)	Constructs a TurnManner instance, describing the manner in which the robot should complete a given autonomous RobotTurn.

Method Summary

Modifier and Type	Method	Description
double	getMarginOfError()	Gets the angular margin of error at the endpoint, such that if the robot is within this angle measure from the endpoint of the autonomous RobotTurn the turn is considered to be finished.
TurnManner.TurnSpeedSupplier	getSpeedSupplier()	Gets the TurnManner.TurnSpeedSupplier associated with this TurnManner instance.

Methods inherited from class java.lang.Object

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

Field Detail

NONE

public static final TurnManner NONE

A TurnManner where the robot will not attempt to move and the path will immediately be completed.

Constructor Detail

TurnManner

public TurnManner(double marginOfError,
                  TurnManner.TurnSpeedSupplier speedSupplier)

Constructs a TurnManner instance, describing the manner in which the robot should complete a given autonomous RobotTurn.

Parameters:

marginOfError - A double describing how far the robot can be from its endpoint in order for the turn to be considered finished, in degrees.

speedSupplier - A TurnManner.TurnSpeedSupplier which provides the speed the robot should turn at given the remaining angle measure.

Method Detail

getSpeedSupplier

public TurnManner.TurnSpeedSupplier getSpeedSupplier()

Gets the TurnManner.TurnSpeedSupplier associated with this TurnManner instance.

Specified by:

getSpeedSupplier in class Manner

Returns:

The TurnSpeedSupplier which describes how quickly the robot should turn while following any given autonomous RobotTurn.

getMarginOfError

public double getMarginOfError()

Gets the angular margin of error at the endpoint, such that if the robot is within this angle measure from the endpoint of the autonomous RobotTurn the turn is considered to be finished.

Overrides:

getMarginOfError in class Manner

Returns:

The angular margin of error, measured in degrees.