Package robot.humaninterface.drivers

Class NathanGain

java.lang.Object

lib.humaninput.HumanInput

lib.humaninput.Driver

robot.humaninterface.drivers.NathanGain

All Implemented Interfaces:

Nameable

public class NathanGain
extends Driver

Field Summary

Fields

Modifier and Type	Field	Description
static boolean	isFlippy
static final double	NORMAL_SPEED_GAIN
static final double	NORMAL_TURN_GAIN
static final double	PRECISE_SPEED_SCALE
static final double	PRECISE_TURN_SCALE
static double	precisionScaleTurn
static double	precisionScaleY
static final double	SPEED_EXP
static final double	TURN_EXP
static final double	TURN_SPEED_SCALE
static final double	Y_SPEED_SCALE

Fields inherited from class lib.humaninput.HumanInput

name

Constructor Summary

Constructors

Constructor	Description
NathanGain()

Method Summary

Modifier and Type	Method	Description
void	bindCommands()	A function where the driver's and operator's controls are bound to commands
edu.wpi.first.math.geometry.Translation2d	getTranslation()
double	getTurnSpeed()
protected double	scaleGain(double input, double gain, double exp)

Methods inherited from class lib.humaninput.Driver

scaleGain

Methods inherited from class lib.humaninput.HumanInput

getName, unbindCommands

Methods inherited from class java.lang.Object

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

Field Details

isFlippy

public static boolean isFlippy

SPEED_EXP

public static final double SPEED_EXP

See Also:

• Constant Field Values

Y_SPEED_SCALE

public static final double Y_SPEED_SCALE

See Also:

• Constant Field Values

TURN_EXP

public static final double TURN_EXP

See Also:

• Constant Field Values

TURN_SPEED_SCALE

public static final double TURN_SPEED_SCALE

See Also:

• Constant Field Values

NORMAL_SPEED_GAIN

public static final double NORMAL_SPEED_GAIN

See Also:

• Constant Field Values

NORMAL_TURN_GAIN

public static final double NORMAL_TURN_GAIN

See Also:

• Constant Field Values

PRECISE_SPEED_SCALE

public static final double PRECISE_SPEED_SCALE

See Also:

• Constant Field Values

PRECISE_TURN_SCALE

public static final double PRECISE_TURN_SCALE

See Also:

• Constant Field Values

precisionScaleY

public static double precisionScaleY

precisionScaleTurn

public static double precisionScaleTurn

Constructor Details

NathanGain

public NathanGain()

Method Details

scaleGain

protected double scaleGain(double input,
 double gain,
 double exp)

bindCommands

public void bindCommands()

Description copied from class: HumanInput

A function where the driver's and operator's controls are bound to commands

Can't be done in the constructor because constructors are called too early

Specified by:

bindCommands in class HumanInput

getTranslation

public edu.wpi.first.math.geometry.Translation2d getTranslation()

Specified by:

getTranslation in class Driver

Returns:

Speed that the driver wants, in wpilib field-relative coordinates (forward, left). Length of translation vector should not exceed 1

getTurnSpeed

public double getTurnSpeed()

Specified by:

getTurnSpeed in class Driver

Returns:

Turn speed that the driver wants in the range [-1, 1], positive = counterclockwise