Package org.chsrobotics.lib.trajectory

Class TrapezoidProfile

java.lang.Object

org.chsrobotics.lib.trajectory.MotionProfile

org.chsrobotics.lib.trajectory.AsymmetricTrapezoidProfile

org.chsrobotics.lib.trajectory.TrapezoidProfile

public class TrapezoidProfile
extends AsymmetricTrapezoidProfile

Represents a special case of an AsymmetricTrapezoidProfile where the maxAcceleration and maxDeceleration constraints are the same.

A motion profile that allows for smooth motion between two states. The dx/dt of this motion (velocity) forms the trapezoid shape on a graph. The particular elements of motion are velocity and acceleration limited.

The most useful practical application of this is use defining the setpoint for a PID (or similar) controller, to avoid control effort saturation or the initial spike in input from the P term.

Also could be used to meet physical constraints from a mechanism (can't go too fast or the wires might tangle, mechanism has too much mass to decelerate too quickly, etc...).

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TrapezoidProfile.Constraints	Data class to hold the maximum allowed rates for the output of a TrapezoidProfile.

Nested classes/interfaces inherited from class org.chsrobotics.lib.trajectory.MotionProfile

MotionProfile.State

Field Summary

Fields inherited from class org.chsrobotics.lib.trajectory.MotionProfile

initialState, phases

Constructor Summary

Constructors

Constructor	Description
TrapezoidProfile(TrapezoidProfile.Constraints constraints, MotionProfile.State goalState)	Constructs a Trapezoid profile out of given constraints, a goal state, and an initial state of zero position and velocity.
TrapezoidProfile(TrapezoidProfile.Constraints constraints, MotionProfile.State goalState, MotionProfile.State initialState)	Constructs a TrapezoidProfile out of given constraints, an initial state, and a goal state.

Method Summary

Methods inherited from class org.chsrobotics.lib.trajectory.MotionProfile

calculate, getPhases, isFinished, totalTime

Methods inherited from class java.lang.Object

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

Constructor Detail

TrapezoidProfile

public TrapezoidProfile(TrapezoidProfile.Constraints constraints,
                        MotionProfile.State goalState,
                        MotionProfile.State initialState)

Constructs a TrapezoidProfile out of given constraints, an initial state, and a goal state.

Parameters:

constraints - The maximum allowed velocity and accelerations.

initialState - The initial state of the profile.

goalState - The target state of the profile.

TrapezoidProfile

public TrapezoidProfile(TrapezoidProfile.Constraints constraints,
                        MotionProfile.State goalState)

Constructs a Trapezoid profile out of given constraints, a goal state, and an initial state of zero position and velocity.

Parameters:

constraints - The maximum allowed velocity and accelerations.

goalState - The target state of the profile.