Package trclib.dataprocessor

Class TrcDataIntegrator<D>

java.lang.Object

trclib.dataprocessor.TrcDataIntegrator<D>

public class TrcDataIntegrator<D>
extends Object

This class does data integration for sensors that have one or more axes. Some value sensors such as gyros and accelerometers may need to integrate their data to provide heading from gyro rotation rate, and velocity or distance from accelerometer acceleration data. This class uses a periodic task to do integration and optionally double integration.

Field Summary

Fields

Modifier and Type	Field	Description
private final D	dataType
private final ArrayList<TrcSensor.SensorData<Double>>	doubleIntegratedData
private final ArrayList<TrcSensor.SensorData<Double>>	inputData
private final String	instanceName
private final ArrayList<TrcSensor.SensorData<Double>>	integratedData
private final TrcTaskMgr.TaskObject	integratorTaskObj
private final Double[]	prevTimes
private final TrcSensor<D>	sensor

Constructor Summary

Constructors

Constructor	Description
TrcDataIntegrator(String instanceName, TrcSensor<D> sensor, D dataType)	Constructor: Creates an instance of the object.
TrcDataIntegrator(String instanceName, TrcSensor<D> sensor, D dataType, boolean doubleIntegration)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
TrcSensor.SensorData<Double>	getDoubleIntegratedData(int index)	This method returns the last indexed double integrated data.
TrcSensor.SensorData<Double>	getInputData(int index)	This method returns the last indexed input data.
TrcSensor.SensorData<Double>	getIntegratedData(int index)	This method returns the last indexed integrated data.
private void	integratorTask(TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop)	This method is called periodically to do data integration.
void	reset()	This method resets all integratorData and doubleIntegratedData.
void	reset(int index)	This method resets the indexed integratedData and doubleIntegratedData.
void	setEnabled(boolean enabled)	This method enables the data integrator.
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

private final String instanceName

sensor

private final TrcSensor<D> sensor

dataType

private final D dataType

integratorTaskObj

private final TrcTaskMgr.TaskObject integratorTaskObj

inputData

private final ArrayList<TrcSensor.SensorData<Double>> inputData

integratedData

private final ArrayList<TrcSensor.SensorData<Double>> integratedData

doubleIntegratedData

private final ArrayList<TrcSensor.SensorData<Double>> doubleIntegratedData

prevTimes

private final Double[] prevTimes

Constructor Details

TrcDataIntegrator

public TrcDataIntegrator(String instanceName,
 TrcSensor<D> sensor,
 D dataType,
 boolean doubleIntegration)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

sensor - specifies the sensor object that needs integration.

dataType - specifies the data type to be integrated.

doubleIntegration - specifies true to do double integration, false otherwise.

TrcDataIntegrator

public TrcDataIntegrator(String instanceName,
 TrcSensor<D> sensor,
 D dataType)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

sensor - specifies the sensor object that needs integration.

dataType - specifies the data type to be integrated.

Method Details

toString

public String toString()

This method returns the instance name.

Overrides:

toString in class Object

Returns:

instance name.

setEnabled

public void setEnabled(boolean enabled)

This method enables the data integrator. The data integrator is not automatically enabled when created. You must explicitly call this method to enable the data integrator.

Parameters:

enabled - specifies true for enabling the data processor, disabling it otherwise.

reset

public void reset(int index)

This method resets the indexed integratedData and doubleIntegratedData.

Parameters:

index - specifies the index.

reset

public void reset()

This method resets all integratorData and doubleIntegratedData.

getInputData

public TrcSensor.SensorData<Double> getInputData(int index)

This method returns the last indexed input data.

Parameters:

index - specifies the index.

Returns:

the last indexed input data.

getIntegratedData

public TrcSensor.SensorData<Double> getIntegratedData(int index)

This method returns the last indexed integrated data.

Parameters:

index - specifies the index.

Returns:

last indexed integrated data.

getDoubleIntegratedData

public TrcSensor.SensorData<Double> getDoubleIntegratedData(int index)

This method returns the last indexed double integrated data.

Parameters:

index - specifies the index.

Returns:

last indexed double integrated data.

integratorTask

private void integratorTask(TrcTaskMgr.TaskType taskType,
 TrcRobot.RunMode runMode,
 boolean slowPeriodicLoop)

This method is called periodically to do data integration.

Parameters:

taskType - specifies the type of task being run.

runMode - specifies the competition mode that is running.

slowPeriodicLoop - specifies true if it is running the slow periodic loop on the main robot thread, false otherwise.