Package frc.robot.lib.BLine

Class Path.DefaultGlobalConstraints

java.lang.Object

frc.robot.lib.BLine.Path.DefaultGlobalConstraints

Enclosing class:

Path

public static final class Path.DefaultGlobalConstraints
extends Object

Default global constraints that apply when path-specific constraints are not set.

These constraints are loaded from a config.json file or can be set programmatically. They provide fallback values for all constraint types when individual paths don't specify their own limits.

Constructor Summary

Constructors

Constructor	Description
DefaultGlobalConstraints(double maxVelocityMetersPerSec, double maxAccelerationMetersPerSec2, double maxVelocityDegPerSec, double maxAccelerationDegPerSec2, double endTranslationToleranceMeters, double endRotationToleranceDeg, double intermediateHandoffRadiusMeters)	Creates a new set of default global constraints.

Method Summary

Modifier and Type	Method	Description
Path.DefaultGlobalConstraints	copy()	Creates a deep copy of these constraints.
double	getEndRotationToleranceDeg()
double	getEndTranslationToleranceMeters()
double	getIntermediateHandoffRadiusMeters()
double	getMaxAccelerationDegPerSec2()
double	getMaxAccelerationMetersPerSec2()
double	getMaxVelocityDegPerSec()
double	getMaxVelocityMetersPerSec()

Methods inherited from class java.lang.Object

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

Constructor Details

DefaultGlobalConstraints

public DefaultGlobalConstraints(double maxVelocityMetersPerSec,
 double maxAccelerationMetersPerSec2,
 double maxVelocityDegPerSec,
 double maxAccelerationDegPerSec2,
 double endTranslationToleranceMeters,
 double endRotationToleranceDeg,
 double intermediateHandoffRadiusMeters)

Creates a new set of default global constraints.

Parameters:

maxVelocityMetersPerSec - Default maximum translational velocity (m/s)

maxAccelerationMetersPerSec2 - Default maximum translational acceleration (m/s²)

maxVelocityDegPerSec - Default maximum rotational velocity (deg/s)

maxAccelerationDegPerSec2 - Default maximum rotational acceleration (deg/s²)

endTranslationToleranceMeters - Tolerance for reaching final position (m)

endRotationToleranceDeg - Tolerance for reaching final holonomic rotation (deg)

intermediateHandoffRadiusMeters - Default radius for switching between targets (m)

Method Details

copy

public Path.DefaultGlobalConstraints copy()

Creates a deep copy of these constraints.

Returns:

A new DefaultGlobalConstraints with the same values

getMaxVelocityMetersPerSec

public double getMaxVelocityMetersPerSec()

Returns:

The default maximum translational velocity in meters per second

getMaxAccelerationMetersPerSec2

public double getMaxAccelerationMetersPerSec2()

Returns:

The default maximum translational acceleration in meters per second squared

getMaxVelocityDegPerSec

public double getMaxVelocityDegPerSec()

Returns:

The default maximum rotational velocity in degrees per second

getMaxAccelerationDegPerSec2

public double getMaxAccelerationDegPerSec2()

Returns:

The default maximum rotational acceleration in degrees per second squared

getEndTranslationToleranceMeters

public double getEndTranslationToleranceMeters()

Returns:

The tolerance for reaching the final translation in meters

getEndRotationToleranceDeg

public double getEndRotationToleranceDeg()

Returns:

The tolerance for reaching the final rotation in degrees

getIntermediateHandoffRadiusMeters

public double getIntermediateHandoffRadiusMeters()

Returns:

The default intermediate handoff radius in meters