challenge-bot.com Git - 3501/2015-FRC-Spark/blob - src/org/usfirst/frc3501/RiceCatRobot/MathLib.java

   1 package org.usfirst.frc3501.RiceCatRobot;
   2
   3 public class MathLib {
   4
   5   /***
   6    * This method gives speed as a function of % distance covered so the speed
   7    * forms a parabola starting and ending at minSpeed when you start and end and
   8    * achieving maxSpeed exactly halfway.
   9    *
  10    * @param minSpeed
  11    *          the starting and ending speed, in range [0, 1]
  12    * @param maxSpeed
  13    *          the max speed, achieved at percentComplete = 1/2.
  14    * @param percentComplete
  15    *          should be currentDistance / targetDistance
  16    * @return the speed (motor value) to set motors to for smooth acceleration.
  17    *         Note that since velocity is a parabola, acceleration is linear. It
  18    *         may exceed the maximum value robot can accelerate without wheel
  19    *         slipping.
  20    */
  21   public static double getSpeedForLinearAccel(double minSpeed, double maxSpeed,
  22       double percentComplete) {
  23     return 4 * (minSpeed - maxSpeed) * (percentComplete - 0.5)
  24         * (percentComplete - 0.5) + maxSpeed;
  25   }
  26
  27   /***
  28    * This method gives speed as a function of % distance covered so the speed
  29    * increases linearly from minSpeed to maxSpeed and then back down again.
  30    *
  31    * @param minSpeed
  32    *          the starting and ending speed, in range [0, 1]
  33    * @param maxSpeed
  34    *          the max speed, achieved at percentComplete = 1/2.
  35    * @param percentComplete
  36    *          should be currentDistance / targetDistance
  37    * @return the speed (motor value) to set motors to.
  38    */
  39   public static double getSpeedForConstantAccel(double minSpeed,
  40       double maxSpeed, double percentComplete) {
  41     return maxSpeed + 2 * (minSpeed - maxSpeed)
  42         * Math.abs(percentComplete - 0.5);
  43   }
  44
  45 }