Package frc.lib5k.control

Class SlewLimiter

  • Direct Known Subclasses:
    TimedSlewLimiter
    public class SlewLimiter
extends java.lang.Object
    A tool for smoothing out joystick information (enforces a maximum rate of change)

    • Constructor Summary

      Constructors 
      Constructor Description
      SlewLimiter​(double limit)
      Built a SlewLimier object

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      double feed​(double value)
      Limit a value, and update the system
      double getRate()
      Get the maximum amount of change allowed by the system
      void reset()
      Reset the system (stops accidental movement after a system restart)
      void setRate​(double rate)
      Re-set the maximum amount of change allowed by the system

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • SlewLimiter

        public SlewLimiter​(double limit)
        Built a SlewLimier object
        Parameters:
        limit - Maximum amount of change allowed by the system (lower numbers will be more aggressive)

    • Method Detail

      • feed

        public double feed​(double value)
        Limit a value, and update the system
        Parameters:
        value - Input value
        Returns:
        Output value

      • reset

        public void reset()
        Reset the system (stops accidental movement after a system restart)

      • setRate

        public void setRate​(double rate)
        Re-set the maximum amount of change allowed by the system
        Parameters:
        rate - Maximum change

      • getRate

        public double getRate()
        Get the maximum amount of change allowed by the system
        Returns:
        Maximum change