Package org.horizon36596.simloop.fit

Class FirstOrderFit.Samples

java.lang.Object

org.horizon36596.simloop.fit.FirstOrderFit.Samples

Enclosing class:

FirstOrderFit

public static final class FirstOrderFit.Samples
extends Object

A logged record for one axis: time, the power applied, the velocity measured, and the battery.

Constructor Summary

Constructors

Constructor	Description
Samples(double[] timeSeconds, double[] power, double[] velocity, double[] volts, double nominalVolts)	A record whose friction acts against its own velocity: one wheel, one flywheel.
Samples(double[] timeSeconds, double[] power, double[] velocity, double[] volts, double nominalVolts, double[] frictionDirection)	A record whose friction direction the caller works out: a mix of several wheels, where each wheel's friction follows that wheel's own direction.

Method Summary

Modifier and Type	Method	Description
boolean	hasVoltage()	Returns whether a real battery voltage was logged, rather than assumed.

Methods inherited from class java.lang.Object

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

Constructor Details

Samples

public Samples(double[] timeSeconds,
 double[] power,
 double[] velocity,
 double[] volts,
 double nominalVolts)

A record whose friction acts against its own velocity: one wheel, one flywheel.

Parameters:

timeSeconds - frame times, seconds, increasing

power - applied power per frame, the fraction written to the actuator, in [-1, 1]

velocity - measured velocity per frame, any unit; the fitted free speed comes out in it

volts - battery voltage per frame, volts; null when the log has none, in which case every frame is taken to be at nominalVolts

nominalVolts - the battery voltage free speed is quoted at, volts

Samples

public Samples(double[] timeSeconds,
 double[] power,
 double[] velocity,
 double[] volts,
 double nominalVolts,
 double[] frictionDirection)

A record whose friction direction the caller works out: a mix of several wheels, where each wheel's friction follows that wheel's own direction.

Parameters:

timeSeconds - as above

power - as above

velocity - as above

volts - as above

nominalVolts - as above

frictionDirection - per frame, the direction friction acts along this axis, unitless in [-1, 1]: for a mecanum axis, the axis's wheel mix of each wheel's sign of speed (0 for a wheel at rest). null to use the sign of velocity with the rest-band deadband, as the other constructor does.

Method Details

hasVoltage

public boolean hasVoltage()

Returns whether a real battery voltage was logged, rather than assumed.

Returns:

whether a real battery voltage was logged, rather than assumed