Package frc.robot.shared.config

Class SetAndSeekMotionConfig

java.lang.Object
frc.robot.shared.config.AbstractConfig
frc.robot.shared.config.SetAndSeekMotionConfig
public class SetAndSeekMotionConfig extends AbstractConfig
Configuration bundle for trapezoidal motion profile parameters used by set-and-seek subsystems.

Values are stored in degrees (and degrees per second) for human readability. Radian-based getters are provided for WPILib controllers that expect radians. Every field is surfaced to SmartDashboard so it can be tuned live without redeploying.

  • Field Details

    • maximumVelocityDegreesPerSecond

      public double maximumVelocityDegreesPerSecond
      Maximum velocity for the trapezoidal profile, in degrees per second.

    • maximumAccelerationDegreesPerSecondSquared

      public double maximumAccelerationDegreesPerSecondSquared
      Maximum acceleration for the trapezoidal profile, in degrees per second squared.

    • positionToleranceDegrees

      public double positionToleranceDegrees
      Acceptable position error when deciding if the mechanism is at its goal, in degrees.

    • velocityToleranceDegreesPerSecond

      public double velocityToleranceDegreesPerSecond
      Acceptable velocity error when deciding if the mechanism is at its goal, in degrees per second.

    • initialPositionDegrees

      public double initialPositionDegrees
      Starting position used to seed the initial profile state, in degrees.

    • initialVelocityDegreesPerSecond

      public double initialVelocityDegreesPerSecond
      Starting velocity used to seed the initial profile state, in degrees per second.

  • Constructor Details

    • SetAndSeekMotionConfig

      public SetAndSeekMotionConfig()

  • Method Details

    • getMaximumVelocityDegreesPerSecond

      public double getMaximumVelocityDegreesPerSecond()
      Returns the maximum profile velocity, tuned via SmartDashboard.
      Returns:
      max velocity in degrees per second

    • getMaximumVelocityRadiansPerSecond

      public double getMaximumVelocityRadiansPerSecond()
      Returns the maximum profile velocity in radians per second.
      Returns:
      max velocity in radians per second

    • getMaximumAccelerationDegreesPerSecondSquared

      public double getMaximumAccelerationDegreesPerSecondSquared()
      Returns the maximum profile acceleration, tuned via SmartDashboard.
      Returns:
      max acceleration in degrees per second squared

    • getMaximumAccelerationRadiansPerSecondSquared

      public double getMaximumAccelerationRadiansPerSecondSquared()
      Returns the maximum profile acceleration in radians per second squared.
      Returns:
      max acceleration in radians per second squared

    • getPositionToleranceRadians

      public double getPositionToleranceRadians()
      Returns the allowed position error in radians.
      Returns:
      position tolerance in radians

    • getVelocityToleranceRadiansPerSecond

      public double getVelocityToleranceRadiansPerSecond()
      Returns the allowed velocity error in radians per second.
      Returns:
      velocity tolerance in radians per second

    • getInitialPositionRadians

      public double getInitialPositionRadians()
      Returns the initial position in radians.
      Returns:
      starting position in radians

    • getInitialVelocityRadiansPerSecond

      public double getInitialVelocityRadiansPerSecond()
      Returns the initial velocity in radians per second.
      Returns:
      starting velocity in radians per second