Package trclib.dataprocessor

Class TrcWrapValueConverter

java.lang.Object
trclib.dataprocessor.TrcWrapValueConverter
Direct Known Subclasses:
TrcAbsoluteEncoder
public class TrcWrapValueConverter extends Object
This class is typically used to monitor a sensor value that wraps around and convert it to a continuous value. For example, absolute encoder usually returns a value range between 0.0 and 1.0. When the value crosses over the zero crossing, it jumps to the other extreme end. This doesn't work well for controllers such as PID control. This class will monitors the crossovers and will increment or decrement the crossover count depending on which direction the value is crossing over. It provides a getContinuousValue method to return a continuous value incorporating the crossover count as part of the value. For example, instead of returning a value between 0.0 and 1.0, it will return a value such as 3.56 where 3 is the number of crossovers.

  • Field Details

    • instanceName

      protected final String instanceName

    • valueSupplier

      protected final DoubleSupplier valueSupplier

    • rangeLow

      private final double rangeLow

    • rangeHigh

      private final double rangeHigh

    • converterTaskObj

      private final TrcTaskMgr.TaskObject converterTaskObj

    • enabled

      private boolean enabled

    • prevValue

      private double prevValue

    • numCrossovers

      private int numCrossovers

  • Constructor Details

    • TrcWrapValueConverter

      public TrcWrapValueConverter(String instanceName, DoubleSupplier valueSupplier, double rangeLow, double rangeHigh)
      Constructor: Creates an instance of the object.
      Parameters:
      instanceName - specifies the instance name.
      valueSupplier - specifies the method to call to get the value.
      rangeLow - specifies the low range of the value.
      rangeHigh - specifies the high range of the value.

  • Method Details

    • toString

      public String toString()
      This method returns the instance name.
      Overrides:
      toString in class Object
      Returns:
      instance name.

    • isTaskEnabled

      public boolean isTaskEnabled()
      This method returns the state of the converter task.
      Returns:
      true if converter task is enabled, false otherwise.

    • setTaskEnabled

      public void setTaskEnabled(boolean enabled)
      This method enables/disables the converter task. It is not automatically enabled when created. You must explicitly call this method to enable the converter.
      Parameters:
      enabled - specifies true for enabling the converter, disabling it otherwise.

    • resetConverter

      public void resetConverter()
      This method resets the converter state.

    • getContinuousValue

      public double getContinuousValue()
      This method returns the current continuous value.
      Returns:
      current continuous value.

    • converterTask

      private void converterTask(TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop)
      This method is called periodically to check for range crossovers.
      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.