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sc2adsc2ad
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Made the scadlib package
1 parent 7f63a56 commit d3082f9

18 files changed

Lines changed: 42 additions & 31 deletions

‎src/PathTest.java‎

Lines changed: 24 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -6,12 +6,12 @@
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import org.math.plot.Plot2DPanel;
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import extra.GoodGraphing;
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import paths.FastPathPlanner;
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import paths.MotionPath;
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import paths.Point;
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import paths.Position;
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import paths.Util;
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import scadlib.extra.GoodGraphing;
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import scadlib.paths.FastPathPlanner;
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import scadlib.paths.MotionPath;
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import scadlib.paths.Point;
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import scadlib.paths.Position;
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import scadlib.paths.Util;
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/**
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* Overarching class to run various paths.
@@ -48,18 +48,19 @@ public static void main(String[] args) {
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figure.yGridOn();
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figure.setYLabel("Y (inches)");
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figure.setXLabel("X (inches)");
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double width = 648, height = 324.5;
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double robotWidth = 22;
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double robotLength = 32;
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figure.setXTic(0, width, 12);
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figure.setYTic(0, height, 12);
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// Add the close switch
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// 38.719 is length of switch
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double width = 648;
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double height = 324.5;
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double robotWidth = 25.75;
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double robotLength = 37.25;
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double switchLength = 38.719;
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double distanceToSwitchFromWall = 85.25;
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double distanceToSwitchFromAlliance = 140;
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double delta = 10;
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double widthOfSwitch = 56;
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figure.setXTic(0, width, 12);
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figure.setYTic(0, height, 12);
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// Add the close switch
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// 38.719 is length of switch
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figure.addData(new double[][]{
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{distanceToSwitchFromAlliance, distanceToSwitchFromWall},
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{distanceToSwitchFromAlliance, height-distanceToSwitchFromWall},
@@ -110,6 +111,8 @@ public static void main(String[] args) {
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figure.addData(fpp.leftPath, Color.red);
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figure.addData(fpp.rightPath, Color.green);
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GoodGraphing fig = new GoodGraphing(fpp.smoothCenterVelocity, null, Color.blue);
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fig.yGridOn();
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fig.xGridOn();
@@ -119,6 +122,14 @@ public static void main(String[] args) {
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fig.addData(fpp.smoothLeftVelocity, Color.red);
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fig.addData(fpp.smoothRightVelocity, Color.green);
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double[][] leftV = fpp.smoothLeftVelocity;
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double[][] rightV = fpp.smoothRightVelocity;
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for (int i = 0; i < leftV.length; i++) {
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System.out.print(leftV[i][0]);
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System.out.println(", "+leftV[i][1]);
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}
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GoodGraphing pos = new GoodGraphing(fpp.nodeOnlyPath, Color.blue, Color.green);
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pos.yGridOn();
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pos.xGridOn();

src/extra/GoodGraphing.java renamed to src/scadlib/extra/GoodGraphing.java

Lines changed: 1 addition & 1 deletion
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@@ -1,4 +1,4 @@
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package extra;
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package scadlib.extra;
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import java.awt.*;
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import java.awt.datatransfer.Clipboard;

src/extra/PIDF.java renamed to src/scadlib/extra/PIDF.java

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@@ -1,4 +1,4 @@
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package extra;
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package scadlib.extra;
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public class PIDF {
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private double p,i,d,f;

src/extra/RobotPathFollower.java renamed to src/scadlib/extra/RobotPathFollower.java

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@@ -1,6 +1,6 @@
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package extra;
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package scadlib.extra;
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import paths.RobotPath;
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import scadlib.paths.RobotPath;
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public class RobotPathFollower {
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private double width,wheelDiameter,ticksPerRevolution;

src/paths/CombinedPath.java renamed to src/scadlib/paths/CombinedPath.java

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@@ -1,4 +1,4 @@
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package paths;
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package scadlib.paths;
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/**
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* Provides handling for multiple MotionPaths combined together.
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* DOES NOT INTEGRATE ANY OF THE PROVIDED PATHS

src/paths/FastPathPlanner.java renamed to src/scadlib/paths/FastPathPlanner.java

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@@ -1,4 +1,4 @@
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package paths;
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package scadlib.paths;
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import java.util.LinkedList;
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import java.util.List;

src/paths/Hold.java renamed to src/scadlib/paths/Hold.java

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@@ -1,4 +1,4 @@
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package paths;
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package scadlib.paths;
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/**
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* A class for simple flat lines.
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* An easier to use alternative over {@link LinearDerivativePath} as it does not need velocity.

src/paths/IntegralPath.java renamed to src/scadlib/paths/IntegralPath.java

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@@ -1,4 +1,4 @@
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package paths;
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package scadlib.paths;
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public class IntegralPath implements MotionPath {
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private MotionPath speedPath;
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private double position;

src/paths/LinearDerivativePath.java renamed to src/scadlib/paths/LinearDerivativePath.java

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@@ -1,4 +1,4 @@
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package paths;
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package scadlib.paths;
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/**
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* A Linear velocity curve {@link MotionPath}. This is one of the simplest {@link MotionPath}s.
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* It uses kinematic equations to determine position, speed, and acceleration based off of input.

src/paths/MotionPath.java renamed to src/scadlib/paths/MotionPath.java

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@@ -1,4 +1,4 @@
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package paths;
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package scadlib.paths;
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/**
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* The overall MotionPath interface. This could also be rewritten to an abstract class.
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* This makes creating new paths trivial. One can also visualize any MotionPath.

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