Package org.chsrobotics.lib.trajectory.motionProfile

Class AsymmetricTrapezoidProfile

java.lang.Object

org.chsrobotics.lib.trajectory.motionProfile.MotionProfile

org.chsrobotics.lib.trajectory.motionProfile.AsymmetricTrapezoidProfile

Direct Known Subclasses:

TrapezoidProfile

public class AsymmetricTrapezoidProfile
extends MotionProfile

A MotionProfile that allows for smooth motion between two states, generated with acceleration, velocity, and deceleration constraints.

The dx/dt of this motion (velocity) forms the trapezoid shape on a graph. The particular elements of motion are velocity and acceleration limited, with acceleration limiting having different constraints for the initial phase of motion ("maxAcceleration"), and the final phase of motion ("maxDeceleration").

The most useful practical application of this is use defining the setpoint for a PID (or similar) controller, to avoid control effort saturation or the initial spike in input from the P term.

Also could be used to meet physical constraints from a mechanism (can't go too fast or the wires might tangle, has to decelerate at a different rate depending on the location in its track, etc...).

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	AsymmetricTrapezoidProfile.Constraints	A data class to hold the maximum allowable rates for the output of a AsymmetricTrapezoidProfile.

Nested classes/interfaces inherited from class org.chsrobotics.lib.trajectory.motionProfile.MotionProfile

MotionProfile.State

Constructor Summary

Constructors

Constructor	Description
AsymmetricTrapezoidProfile(AsymmetricTrapezoidProfile.Constraints constraints, MotionProfile.State target)	Constructs an AsymmetricTrapezoidProfile with an initial position and velocity of 0,0.
AsymmetricTrapezoidProfile(AsymmetricTrapezoidProfile.Constraints constraints, MotionProfile.State target, MotionProfile.State initial)	Constructs an AsymmetricTrapezoidProfile.

Method Summary

Methods inherited from class org.chsrobotics.lib.trajectory.motionProfile.MotionProfile

getPhases, sample, totalTime

Methods inherited from class java.lang.Object

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

Constructor Details

AsymmetricTrapezoidProfile

public AsymmetricTrapezoidProfile(AsymmetricTrapezoidProfile.Constraints constraints,
 MotionProfile.State target)

Constructs an AsymmetricTrapezoidProfile with an initial position and velocity of 0,0.

Parameters:

constraints - The constraints on the profile, like maximum velocity.

target - The desired state when the profile is complete.

AsymmetricTrapezoidProfile

public AsymmetricTrapezoidProfile(AsymmetricTrapezoidProfile.Constraints constraints,
 MotionProfile.State target,
 MotionProfile.State initial)

Constructs an AsymmetricTrapezoidProfile.

Parameters:

constraints - The constraints on the profile, like maximum velocity.

target - The desired state when the profile is complete.

initial - The initial state (usually the current state).