Package frc.robot.lib.BLine

Enum Class FollowPath.RotationOverrideBehavior

java.lang.Object

java.lang.Enum<FollowPath.RotationOverrideBehavior>

frc.robot.lib.BLine.FollowPath.RotationOverrideBehavior

All Implemented Interfaces:

Serializable, Comparable<FollowPath.RotationOverrideBehavior>, Constable

Enclosing class:

FollowPath

public static enum FollowPath.RotationOverrideBehavior
extends Enum<FollowPath.RotationOverrideBehavior>

Determines how a rotation override interacts with BLine's normal constraints.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
BYPASS_CONSTRAINTS	BLine still rate-limits translation, but the supplied omega is restored after path-follower limiting so the caller owns the final rotational command.
RESPECT_CONSTRAINTS	The supplied omega replaces the rotation PID output before BLine applies its existing rotational velocity and acceleration limits.

Method Summary

Modifier and Type	Method	Description
static FollowPath.RotationOverrideBehavior	valueOf(String name)	Returns the enum constant of this class with the specified name.
static FollowPath.RotationOverrideBehavior[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

RESPECT_CONSTRAINTS

public static final FollowPath.RotationOverrideBehavior RESPECT_CONSTRAINTS

The supplied omega replaces the rotation PID output before BLine applies its existing rotational velocity and acceleration limits.

BYPASS_CONSTRAINTS

public static final FollowPath.RotationOverrideBehavior BYPASS_CONSTRAINTS

BLine still rate-limits translation, but the supplied omega is restored after path-follower limiting so the caller owns the final rotational command.

Method Details

values

public static FollowPath.RotationOverrideBehavior[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static FollowPath.RotationOverrideBehavior valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null