Package org.chsrobotics.lib.drive.differential

Class DifferentialDrivetrainInput

java.lang.Object

org.chsrobotics.lib.drive.differential.DifferentialDrivetrainInput

public class DifferentialDrivetrainInput
extends java.lang.Object

A data class that holds differential drivetrain inputs, split into drivetrain's left and right sides.

Field Summary

Fields

Modifier and Type	Field	Description
double	left
double	right

Constructor Summary

Constructors

Constructor	Description
DifferentialDrivetrainInput(double left, double right)	Constructs a DifferentialDrivetrainInput.

Method Summary

Modifier and Type	Method	Description
DifferentialDrivetrainInput	add(DifferentialDrivetrainInput other)	Returns a new DifferentialDrivetrainInput consisting of the sum of left and right values.
DifferentialDrivetrainInput	clamp(double maxAbsValue)	Returns a new DifferentialDrivetrainInput clamped to not exceed a maximum absolute value.
boolean	equals(java.lang.Object o)
int	hashCode()
DifferentialDrivetrainInput	multiply(double scalar)	Returns a new DifferentialDrivetrainInput with the left and right values multiplied by a scalar.
java.lang.String	toString()

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

left

public final double left

right

public final double right

Constructor Detail

DifferentialDrivetrainInput

public DifferentialDrivetrainInput(double left,
                                   double right)

Constructs a DifferentialDrivetrainInput.

Parameters:

left - : value corresponding with left side input.

right - : value corresponding with right side input.

Method Detail

multiply

public DifferentialDrivetrainInput multiply(double scalar)

Returns a new DifferentialDrivetrainInput with the left and right values multiplied by a scalar.

Parameters:

scalar - The multiplicand.

Returns:

A scaled DifferentialDrivetrainInput.

add

public DifferentialDrivetrainInput add(DifferentialDrivetrainInput other)

Returns a new DifferentialDrivetrainInput consisting of the sum of left and right values.

Parameters:

other - The DifferentialDrivetrainInput to add.

Returns:

The sum of the two DifferentialDrivetrainInputs.

clamp

public DifferentialDrivetrainInput clamp(double maxAbsValue)

Returns a new DifferentialDrivetrainInput clamped to not exceed a maximum absolute value.

Parameters:

maxAbsValue - The absolute value to clamp to. If zero, this will return a DifferentialDrivetrainInput of 0,0.

Returns:

A DifferentialDrivetrainInput with left and right sides independently clamped.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

equals

public boolean equals(java.lang.Object o)

Overrides:

equals in class java.lang.Object

hashCode

public int hashCode()

Overrides:

hashCode in class java.lang.Object