ftc/com.rowanmcalpin.nextftc.ftc.tuning/LinearSlideFeedforwardTuner

LinearSlideFeedforwardTuner

class LinearSlideFeedforwardTuner(motors: List<DcMotorEx>, encoderIndex: Int, telemetry: Telemetry) : Command

An automatic tuner for linear slide feedforward.

Parameters

motors

The motors to tune

encoderIndex

The index of the motor to use the encoder of

telemetry

The telemetry instance to use

Constructors

LinearSlideFeedforwardTuner

constructor(motor: DcMotorEx, telemetry: Telemetry)

constructor(motors: List<DcMotorEx>, encoderIndex: Int, telemetry: Telemetry)

Types

enum Step : Enum<LinearSlideFeedforwardTuner.Step>

Properties

FEEDFORWARD_DECREASE

val FEEDFORWARD_DECREASE: Double

FEEDFORWARD_INCREASE

val FEEDFORWARD_INCREASE: Double = 0.001

open val interruptible: Boolean

open override val isDone: Boolean = false

open val subsystems: Set<Subsystem>

Functions

fun afterTime(time: TimeSpan): SequentialGroup

fun afterTime(time: Double): SequentialGroup

fun afterTime(time: Int): SequentialGroup

fun and(vararg commands: Command): ParallelGroup

fun asDeadline(vararg commands: Command): ParallelDeadlineGroup

fun endAfter(time: TimeSpan): ParallelRaceGroup

fun endAfter(time: Double): ParallelRaceGroup

fun endAfter(time: Int): ParallelRaceGroup

operator fun invoke()

fun perpetually(): PerpetualCommand

fun raceWith(vararg commands: Command): ParallelRaceGroup

open override fun start()

open fun stop(interrupted: Boolean)

fun then(vararg commands: Command): SequentialGroup

fun thenWait(time: TimeSpan): SequentialGroup

fun thenWait(time: Double): SequentialGroup

fun thenWait(time: Int): SequentialGroup

open override fun update()

fun withDeadline(deadline: Command): ParallelDeadlineGroup