Package frc.robot.swerve

Class RotationController

java.lang.Object

frc.robot.swerve.RotationController

public class RotationController
extends Object

Constructor Summary

Constructors

Constructor	Description
RotationController(SwerveConfig config)

Method Summary

Modifier and Type	Method	Description
boolean	atGoal()
boolean	atSetpoint()
double	calculate(double goalRadians, double currentRadians)
double	calculate(double goalRadians, double currentRadians, boolean useHold)
void	reset(double currentRadians)
void	updatePID(double kP, double kI, double kD)

Methods inherited from class java.lang.Object

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

Constructor Details

RotationController

public RotationController(SwerveConfig config)

Method Details

calculate

public double calculate(double goalRadians,
 double currentRadians,
 boolean useHold)

calculate

public double calculate(double goalRadians,
 double currentRadians)

atGoal

public boolean atGoal()

atSetpoint

public boolean atSetpoint()

reset

public void reset(double currentRadians)

updatePID

public void updatePID(double kP,
 double kI,
 double kD)