io.github.thunderbots.lightning.control.layout

Class TankControlLayout

java.lang.Object

io.github.thunderbots.lightning.control.layout.TankControlLayout

All Implemented Interfaces:

ControlLayout

public class TankControlLayout
extends java.lang.Object
implements ControlLayout

A TankControlLayout is a ControlLayout that represents a tank-like control system. In a tank control system, the y-axis of the left thumbstick is used to control the forward/backward power of the left side of the robot, and the right thumbstick is used to control the forward/backward power of the right side of the robot.

Since the movement methods of DriveSystem accept only a single forward vector and a single clockwise vector, some math is required to convert the relevant joystick inputs to a form that can be used by the drive system. The forward power is calculated as the average of the two y-values, and the clockwise power is calculated as the difference between the y-values of the two thumbsticks.

Author:

Zach Ohara

Constructor Summary

Constructors

Constructor and Description
TankControlLayout()

Method Summary

Modifier and Type	Method and Description
double	getClockwisePower(Joystick joy) Gets the clockwise power that should be sent to the robot based on the current state of the given joystick.
double	getForwardPower(Joystick joy) Gets the forward power that should be sent to the robot based on the current state of the given joystick.

Methods inherited from class java.lang.Object

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

Constructor Detail

TankControlLayout

public TankControlLayout()

Method Detail

getForwardPower

public double getForwardPower(Joystick joy)

Description copied from interface: ControlLayout

Gets the forward power that should be sent to the robot based on the current state of the given joystick.

Specified by:

getForwardPower in interface ControlLayout

Parameters:

joy - the joystick to use for power calculations.

Returns:

the forward drive power of the robot.

getClockwisePower

public double getClockwisePower(Joystick joy)

Description copied from interface: ControlLayout

Gets the clockwise power that should be sent to the robot based on the current state of the given joystick.

Specified by:

getClockwisePower in interface ControlLayout

Parameters:

joy - the joystick to use for power calculations.

Returns:

the clockwise drive power of the robot.