Package org.firstinspires.ftc.teamcode.fy23.processors

Class IMUCorrector.Parameters

java.lang.Object

org.firstinspires.ftc.teamcode.fy23.processors.IMUCorrector.Parameters

Enclosing class:

IMUCorrector

public static class IMUCorrector.Parameters
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
double	haveHitTargetToleranceDegrees	Proximity to the target (in degrees) that counts as hitting the target
double	hdgErrToleranceDegrees	Minimum actionable heading error (in degrees)
final FriendlyIMU	imu	You already set this in the constructor and cannot set it again.
double	maxCorrectionPower	Maximum correction power that can be applied
final TunablePID	pid	You already set this in the constructor and cannot set it again.
double	turnPowerThreshold	Minimum absolute value of the turn axis that is considered an intentional turn (which will pause correction)

Constructor Summary

Constructors

Constructor	Description
Parameters(FriendlyIMU imu, TunablePID pid)	Create a new IMUCorrector.Parameters object and supply non-optional parameters.

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

imu

public final FriendlyIMU imu

You already set this in the constructor and cannot set it again.

pid

public final TunablePID pid

You already set this in the constructor and cannot set it again.

maxCorrectionPower

public double maxCorrectionPower

Maximum correction power that can be applied

turnPowerThreshold

public double turnPowerThreshold

Minimum absolute value of the turn axis that is considered an intentional turn (which will pause correction)

hdgErrToleranceDegrees

public double hdgErrToleranceDegrees

Minimum actionable heading error (in degrees)

haveHitTargetToleranceDegrees

public double haveHitTargetToleranceDegrees

Proximity to the target (in degrees) that counts as hitting the target

Constructor Details

Parameters

public Parameters(FriendlyIMU imu,
 TunablePID pid)

Create a new IMUCorrector.Parameters object and supply non-optional parameters.

Parameters:

imu - Please pass the Robot's IMU ( robot.imu ) through.

pid - Pass in an object, already instantiated and configured.