PDVelocityConfiguration.java

Go to the documentation of this file.

package com.neuronrobotics.sdk.pid;
 
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.ByteList;
 
// TODO: Auto-generated Javadoc
public class PDVelocityConfiguration {
    
    private int group=0;
    
    private double KP=1;
    
    private double KD=0;
 
    public PDVelocityConfiguration(){
        
    }
 
    public PDVelocityConfiguration(int group,boolean enabled,boolean inverted,boolean async,double KP,double KI,double KD, double latch, boolean useLatch, boolean stopOnLatch){
        setGroup(group);
        setKP(KP);
        setKD(KD);
    }
    
    public PDVelocityConfiguration(BowlerDatagram conf) {
        setGroup(   conf.getData().get(0));
        setKP(((double)ByteList.convertToInt(conf.getData().getBytes(1, 4),false))/100);
        setKD(((double)ByteList.convertToInt(conf.getData().getBytes(5, 4),false))/100);
    }
    
    public PDVelocityConfiguration(Object[] args) {
        setGroup((Integer) args[0]);
        setKP((Double) args[1]);
        setKD((Double) args[2]);
    }
 
    /* (non-Javadoc)
     * @see java.lang.Object#toString()
     */
    @Override
    public String toString(){
        String s="PD Velocity configuration group #"+getGroup();
        s+="\n\tConstants: P="+getKP()+" D="+getKD();
        return s;
    }
    
    public void setGroup(int group) {
        this.group = group;
    }
    
    public int getGroup() {
        return group;
    }
 
    public void setKP(double kP) {
        KP = kP;
    }
    
    public double getKP() {
        return KP;
    }
 
    public void setKD(double kD) {
        KD = kD;
    }
    
    public double getKD() {
        return KD;
    }
 
    public Object[] getArgs() {
        return  new Object[]{
                group,
                KP,
                KD,
                };
    }
}