[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / RotationTracker.java

/**
 * Copyright (c) 2015, www.techhounds.com
 * All rights reserved.
 *
 * <p>
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * </p>
 * <ul>
 * <li>Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.</li>
 * <li>Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.</li>
 * <li>Neither the name of the www.techhounds.com nor the
 *     names of its contributors may be used to endorse or promote products
 *     derived from this software without specific prior written permission.</li>
 * </ul>
 *
 * <p>
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * </p>
 */

package org.usfirst.frc.team3501.robot;

import edu.wpi.first.wpilibj.PIDSource;

/**
 * A rotation tracker allows you to keep track of how far the robot has rotated
 * since the object was constructed or zeroed.
 * 
 * <p>
 * This object is most useful when you want to turn your robot a particular
 * number of degrees, or when you want to detect whether your robot is tipping.
 * </p>
 * 
 * <p>
 * You will typically use the {@link #getRotationTracker} method associated with
 * the gyro class associated with your hardware. For example
 * {@link GyroItg3200.getRotationTrackerZ()}.
 * </p>
 */
public interface RotationTracker extends PIDSource {

  /**
   * Returns the angle in signed decimal degrees since construction or zeroing.
   * 
   * <p>
   * This value is used as the PID sensor value.
   * </p>
   * 
   * @return Number of degrees the robot has rotated in the range of [-INF,
   *         +INF]. Positive values indicate clockwise rotation (720 means it
   *         has spun around twice and is facing the same direction).
   */
  public double getAngle();

  /**
   * Zeros the rotation tracker so the current direction we are pointing now
   * becomes the zero point.
   */
  public void zero();

}
Commit	Line	Data
1e039ebd E	1	/**
	2	* Copyright (c) 2015, www.techhounds.com
	3	* All rights reserved.
	4	*
	5	* <p>
	6	* Redistribution and use in source and binary forms, with or without
	7	* modification, are permitted provided that the following conditions are met:
	8	* </p>
	9	* <ul>
	10	* <li>Redistributions of source code must retain the above copyright
	11	* notice, this list of conditions and the following disclaimer.</li>
	12	* <li>Redistributions in binary form must reproduce the above copyright
	13	* notice, this list of conditions and the following disclaimer in the
	14	* documentation and/or other materials provided with the distribution.</li>
	15	* <li>Neither the name of the www.techhounds.com nor the
	16	* names of its contributors may be used to endorse or promote products
	17	* derived from this software without specific prior written permission.</li>
	18	* </ul>
	19	*
	20	* <p>
	21	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
	22	* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
	23	* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
	24	* DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
	25	* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
	26	* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
	27	* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
	28	* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
	29	* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
	30	* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
	31	* </p>
	32	*/
	33
	34	package org.usfirst.frc.team3501.robot;
	35
	36	import edu.wpi.first.wpilibj.PIDSource;
	37
	38	/**
	39	* A rotation tracker allows you to keep track of how far the robot has rotated
	40	* since the object was constructed or zeroed.
	41	*
	42	* <p>
	43	* This object is most useful when you want to turn your robot a particular
	44	* number of degrees, or when you want to detect whether your robot is tipping.
	45	* </p>
	46	*
	47	* <p>
	48	* You will typically use the {@link #getRotationTracker} method associated with
	49	* the gyro class associated with your hardware. For example
	50	* {@link GyroItg3200.getRotationTrackerZ()}.
	51	* </p>
	52	*/
	53	public interface RotationTracker extends PIDSource {
	54
	55	/**
	56	* Returns the angle in signed decimal degrees since construction or zeroing.
	57	*
	58	* <p>
	59	* This value is used as the PID sensor value.
	60	* </p>
	61	*
	62	* @return Number of degrees the robot has rotated in the range of [-INF,
	63	* +INF]. Positive values indicate clockwise rotation (720 means it
	64	* has spun around twice and is facing the same direction).
65	*/
66	public double getAngle();
67
68	/**
69	* Zeros the rotation tracker so the current direction we are pointing now
70	* becomes the zero point.
71	*/
72	public void zero();
73
74	}