org.usfirst.frc.team302.robot.utilities

Class CoordinatedOutput

java.lang.Object

org.usfirst.frc.team302.robot.utilities.CoordinatedOutput

public class CoordinatedOutput
extends java.lang.Object

This class is designed to help coordinate the movement between the two joints of the arm by comparing their errors and adjusting outputs accordingly.

Change Log:

Version:

version 1: 2/14/2016 -- Derek Witcpalek

Initial class creation with a static method to output scale factors to adjust the outputs by.

Author:

Derek

Constructor Summary

Constructors

Constructor and Description
CoordinatedOutput()

Method Summary

Modifier and Type	Method and Description
static double[]	coordinateOutputs(double error1, double error2)

Methods inherited from class java.lang.Object

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

Constructor Detail

CoordinatedOutput

public CoordinatedOutput()

Method Detail

coordinateOutputs

public static double[] coordinateOutputs(double error1,
                                         double error2)

Parameters:

error1 - The error of the first joint

error2 - The error of the second joint

Returns:

scale factors The scales to correct the outputs with. These are intended to be in the form: {first joint, second joint}, but it returns a scale for the first error in array position 0 and a scale for the second error in array position 1.