Package frc.robot.util.hyperdrive.emulation

Interface IEmulateParams

All Known Implementing Classes:

ConstantEmulationParams, PreferenceEmulationParams

public interface IEmulateParams

Parameters for the robot to use while driving through a Path. These parameters include overturn, maximum and minimum speeds, the positional correction inhibitor, the positional correction threshold, the Coefficient of Static Friction, the point skip count, and the immediate path size.

Method Summary

Modifier and Type	Method	Description
double	getCoefficientOfStaticFriction()	Returns the approximate coefficient of static friction between the robot's wheels, and the surface that it is driving on.
int	getImmediatePathSize()	Gets the number of points ahead of the robot (after the skipped points) that will be looked at to determine the robot's upcoming turns.
double	getMaximumSpeed()	The maximum speed, in units PER SECOND that the robot can be going at any given time during the path emulation, and the speed that the robot will try to achieve during any straightaways.
double	getMinimumSpeed()	The minimum speed, in units PER SECOND that the robot can be going at any given time during the path emulation.
double	getOverturn()	Can also be called a turn inhibitor.
PIDFAConfig	getPIDFAConfig()	Gets the robots PIDFA configuration, which contains the user-configurable kP, kI, kD, kF and acceleration values necessary to figure out what percent output to drive the motors at.
int	getPointSkipCount()	Returns the number of points that are directly ahead of the robot that will be skipped by the path emulation algorithm.
double	getPositionalCorrectionDistance()	Returns the minimum distance from the path that the robot must have in order to start correcting its position.
double	getPositionalCorrectionInhibitor()	Returns the inhibitor for the robot's positional correction.

Method Detail

getOverturn

double getOverturn()

Can also be called a turn inhibitor. The turn amount that the robot calculates will be multiplied by this value to get the final turn amount. If one finds that the robot consistently does not turn enough, this value should be increased.

Returns:

The Path's "overturn" value. This value defaults to 1.2

getMinimumSpeed

double getMinimumSpeed()

The minimum speed, in units PER SECOND that the robot can be going at any given time during the path emulation. No matter the tightness, the robot will always take any turn with at least this speed. This value is measured in units per second.

Returns:

Minimum speed of the robot during emulation.

getMaximumSpeed

double getMaximumSpeed()

The maximum speed, in units PER SECOND that the robot can be going at any given time during the path emulation, and the speed that the robot will try to achieve during any straightaways. This value must be greater than the minimum speed, and should be less than the robot's actual maximum speed.

Returns:

Maximum speed of the robot during emulation.

getPositionalCorrectionInhibitor

double getPositionalCorrectionInhibitor()

Returns the inhibitor for the robot's positional correction. The greater this value, the more the robot will try to remain exactly on the path that it is driving. Setting this value too high might result in the robot driving in a "wavy" pattern (turning left, then right, then left again, then right again, and so on). Setting this value too low might cause the robot to not correct itself enough when it veers off course. This value defaults to 0.025.

Returns:

Positional correction inhbitor.

getPositionalCorrectionDistance

double getPositionalCorrectionDistance()

Returns the minimum distance from the path that the robot must have in order to start correcting its position. This value is measured in the unit given to the Hyperdrive constructor.

Returns:

Minimum distance in units for positional correction to activate.

getCoefficientOfStaticFriction

double getCoefficientOfStaticFriction()

Returns the approximate coefficient of static friction between the robot's wheels, and the surface that it is driving on. This value can also be used to tune the speed that the robot takes its turns. The lower this value is, the slower it takes turns. The higher this value is, the faster it takes turns. This value defaults to 0.6.

Returns:

Coefficient of static friction between the robot's wheels and the floor's surface.

getPointSkipCount

int getPointSkipCount()

Returns the number of points that are directly ahead of the robot that will be skipped by the path emulation algorithm. Some points ahead of the skipped points will then be used to determine how much the robot should turn. This ensures that the angle between the robot's trajectory and the point(s) ahead is true and not being made larger by a small distance from the robot to the point. This value defaults to 2, and likely will not need to be tuned.

Returns:

The number of points to skip emulating.

getImmediatePathSize

int getImmediatePathSize()

Gets the number of points ahead of the robot (after the skipped points) that will be looked at to determine the robot's upcoming turns. A larger value will mean that the robot's path will be smoother than that of a path with a small value. A larger value will also cause the robot to start turning sooner than a path with a smaller value.

Returns:

Number of points ahead of the robot to use to determine future turns.

getPIDFAConfig

PIDFAConfig getPIDFAConfig()

Gets the robots PIDFA configuration, which contains the user-configurable kP, kI, kD, kF and acceleration values necessary to figure out what percent output to drive the motors at. If this method is being called from a PreferenceEmulationParams, all of these values will be pulled from the Preferences table on the dashboard. If this method is being called from a ConstantEmulationParams, these values will be whatever they were initialized as.

Returns:

PIDFA config.