Package trclib.archive

Class TrcTankMotionProfileFollower

java.lang.Object

trclib.archive.TrcTankMotionProfileFollower

public abstract class TrcTankMotionProfileFollower
extends Object

This class is intended to be extended by a platform dependent Tank Motion Profile Follower. The extended class will implement the necessary abstract methods to start following the provided motion profile. In the future, this class will also implement the motion profile following logic for motor controllers that do not have native motion profile support. In this case, the extended class will provide methods to receive each profile way point and program the motor controller accordingly.

Field Summary

Fields

Modifier and Type	Field	Description
protected final String	instanceName

Constructor Summary

Constructors

Constructor	Description
TrcTankMotionProfileFollower(String instanceName)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
abstract void	cancel()	This method stops following the path and cancel the event.
abstract TrcTankMotionProfile	getActiveProfile()	This method returns the motion profile currently being followed by the follower.
abstract boolean	isActive()	This method checks if path is currently being followed.
abstract boolean	isCancelled()	This method checks if path following has been cancelled.
void	start(TrcTankMotionProfile profile)	This method starts following the supplied motion profile.
void	start(TrcTankMotionProfile profile, TrcEvent event)	This method starts following the supplied motion profile.
abstract void	start(TrcTankMotionProfile profile, TrcEvent event, double timeout)	This method starts following the supplied motion profile.
String	toString()	This method returns the instance name.

Methods inherited from class java.lang.Object

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

Field Details

instanceName

protected final String instanceName

Constructor Details

TrcTankMotionProfileFollower

public TrcTankMotionProfileFollower(String instanceName)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

Method Details

start

public abstract void start(TrcTankMotionProfile profile,
 TrcEvent event,
 double timeout)

This method starts following the supplied motion profile.

Parameters:

profile - specifies the TrcTankMotionProfile object representing the path to follow. Remember to match units!

event - specifies the event to signal when path has been followed.

timeout - specifies maximum number of seconds to spend following the path. 0.0 means no timeout.

getActiveProfile

public abstract TrcTankMotionProfile getActiveProfile()

This method returns the motion profile currently being followed by the follower.

Returns:

profile object currently being followed (null if not following any profile).

isActive

public abstract boolean isActive()

This method checks if path is currently being followed.

Returns:

true if yes, false otherwise.

isCancelled

public abstract boolean isCancelled()

This method checks if path following has been cancelled.

Returns:

true if someone has called the cancel() method while it was running, false otherwise.

cancel

public abstract void cancel()

This method stops following the path and cancel the event.

toString

public String toString()

This method returns the instance name.

Overrides:

toString in class Object

Returns:

instance name.

start

public void start(TrcTankMotionProfile profile,
 TrcEvent event)

This method starts following the supplied motion profile.

Parameters:

profile - specifies the TrcTankMotionProfile object representing the path to follow. Remember to match units!

event - specifies the event to signal when path has been followed.

start

public void start(TrcTankMotionProfile profile)

This method starts following the supplied motion profile.

Parameters:

profile - specifies the TrcTankMotionProfile object representing the path to follow. Remember to match units!