Package frc.robot.swerve

Class TranslationYController

java.lang.Object

frc.robot.swerve.TranslationYController

public class TranslationYController
extends Object

Uses a profiled PID Controller to quickly turn the robot to a specified angle. Once the robot is within a certain tolerance of the goal angle, a PID controller is used to hold the robot at that angle.

Constructor Summary

Constructors

Constructor	Description
TranslationYController(SwerveConfig config)

Method Summary

Modifier and Type	Method	Description
boolean	atGoal(double current)
double	calculate(DoubleSupplier goalMeters, DoubleSupplier currentMeters)
void	reset(double currentMeters)
void	updatePID(double kP, double kI, double kD)

Methods inherited from class java.lang.Object

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

Constructor Details

TranslationYController

public TranslationYController(SwerveConfig config)

Method Details

calculate

public double calculate(DoubleSupplier goalMeters,
 DoubleSupplier currentMeters)

atGoal

public boolean atGoal(double current)

reset

public void reset(double currentMeters)

updatePID

public void updatePID(double kP,
 double kI,
 double kD)