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

Class IMUCorrector

java.lang.Object

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

public class IMUCorrector
extends Object

Uses the IMU to actively maintain the current heading unless a deliberate turn is detected. Also lets you "square up", or use the IMU to accurately turn to the nearest cardinal direction.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	IMUCorrector.Parameters

Constructor Summary

Constructors

Constructor	Description
IMUCorrector(IMUCorrector.Parameters parameters)

Method Summary

Modifier and Type	Method	Description
DTS	correctDTS(DTS driver)	The drive and strafe values will remain unmodified, but the turn power will be replaced by the correction power given by the TunablePID instance given in the Parameters.
double	getHeadingError()	Returns how far away the heading is from the target (in degrees).
double	getLastHeadingError()	This is probably only useful for debugging IMUCorrector.
double	getTargetHeading()	Returns the target heading (in degrees).
boolean	hasHitTarget()
boolean	isTurning()	Returns true if IMUCorrector thinks that the driver is currently trying to turn.
void	setTargetHeading(double targetHeading)	Sets the target heading (in degrees).
void	squareUp()	Sets the target heading to the nearest cardinal direction.

Methods inherited from class java.lang.Object

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

Constructor Details

IMUCorrector

public IMUCorrector(IMUCorrector.Parameters parameters)

Method Details

correctDTS

public DTS correctDTS(DTS driver)

The drive and strafe values will remain unmodified, but the turn power will be replaced by the correction power given by the TunablePID instance given in the Parameters.

Parameters:

driver - The DTS that represents what the driver wants to do (i.e. the requested turn power).

squareUp

public void squareUp()

Sets the target heading to the nearest cardinal direction.

getTargetHeading

public double getTargetHeading()

Returns the target heading (in degrees).

setTargetHeading

public void setTargetHeading(double targetHeading)

Sets the target heading (in degrees).

getHeadingError

public double getHeadingError()

Returns how far away the heading is from the target (in degrees).

getLastHeadingError

public double getLastHeadingError()

This is probably only useful for debugging IMUCorrector.

hasHitTarget

public boolean hasHitTarget()

isTurning

public boolean isTurning()

Returns true if IMUCorrector thinks that the driver is currently trying to turn.