Package ca.team3161.lib.robot.pid

Class RampingSpeedController.Builder

  • Enclosing class:
    RampingSpeedController
    public static class RampingSpeedController.Builder
extends java.lang.Object
    A Builder for RampingSpeedControllers. Provides an easy way to make RampingSpeedControllers without having to remember parameter order.

    • Constructor Detail

      • Builder

        public Builder()

    • Method Detail

      • build

        public RampingSpeedController build()
        Use the given parameters to construct a RampingSpeedController.
        Returns:
        a RampingSpeedController instance

      • controller

        public RampingSpeedController.Builder controller​(edu.wpi.first.wpilibj.SpeedController controller)
        Set the SpeedController to use.
        Parameters:
        controller - the controller
        Returns:
        this builder

      • maxStep

        public RampingSpeedController.Builder maxStep​(double maxStep)
        Set the maximum step size to use. Any changes in target speed greater than this will be limited to this. For example, if the composed SpeedController is set to 1.0, the maxStep given is 0.2, and the next call to RampingSpeedController.set(double) is given the parameter 0.5, then the composed SpeedController will actually be set to 0.8.
        Parameters:
        maxStep - the maximum step size
        Returns:
        this builder

      • rampRatio

        public RampingSpeedController.Builder rampRatio​(double rampRatio)
        Set the ramp ratio. When the controller is between the firstFilter and secondFilter values, this ratio is used to continue governing the stepdown speed to reduce hard braking events.
        Parameters:
        rampRatio - the rampRatio
        Returns:
        this builder

      • firstFilter

        public RampingSpeedController.Builder firstFilter​(double firstFilter)
        The first filter value. When the new target speed is less than this value, the controller goes into rampdown mode rather than normal operation - maxStep is ignored and either rampRatio is used to compute the next speed, or the controller is stopped entirely.
        Parameters:
        firstFilter - the first filter
        Returns:
        this builder

      • secondFilter

        public RampingSpeedController.Builder secondFilter​(double secondFilter)
        The second filter value. When the new target speed is less than this value, the controller is immediately set to 0 rather than continuing to slowly ramp down. This is effectively a deadband value.
        Parameters:
        secondFilter - the second filter
        Returns:
        this builder