subzero::SwerveUtils Class Reference

#include <SwerveUtils.h>

Static Public Member Functions
static double	StepTowards (double current, double target, double stepsize)
static double	StepTowardsCircular (double current, double target, double stepsize)
static double	AngleDifference (double angleA, double angleB)
static double	WrapAngle (double angle)

Detailed Description

Definition at line 4 of file SwerveUtils.h.

Member Function Documentation

AngleDifference()

static double subzero::SwerveUtils::AngleDifference ( double angleA, double angleB )

static

Finds the (unsigned) minimum difference between two angles including calculating across 0.

Parameters

angleA	An angle (in radians).
angleB	An angle (in radians).

Returns

The (unsigned) minimum difference between the two angles (in radians).

StepTowards()

static double subzero::SwerveUtils::StepTowards ( double current, double target, double stepsize )

static

Steps a value towards a target with a specified step size.

Parameters

current	The current or starting value. Can be positive or negative.
target	The target value the algorithm will step towards. Can be positive or negative.
stepsize	The maximum step size that can be taken.

Returns

The new value for _current after performing the specified step towards the specified target.

StepTowardsCircular()

static double subzero::SwerveUtils::StepTowardsCircular ( double current, double target, double stepsize )

static

Steps a value (angle) towards a target (angle) taking the shortest path with a specified step size.

Parameters

current	The current or starting angle (in radians). Can lie outside the 0 to 2*PI range.
target	The target angle (in radians) the algorithm will step towards. Can lie outside the 0 to 2*PI range.
stepsize	The maximum step size that can be taken (in radians).

Returns

The new angle (in radians) for _current after performing the specified step towards the specified target. This value will always lie in the range 0 to 2*PI (exclusive).

WrapAngle()

static double subzero::SwerveUtils::WrapAngle ( double angle )

static

Wraps an angle until it lies within the range from 0 to 2*PI (exclusive).

Parameters

angle

The angle (in radians) to wrap. Can be positive or negative and can lie multiple wraps outside the output range.

Returns

An angle (in radians) from 0 and 2*PI (exclusive).

---

The documentation for this class was generated from the following file:

• include/subzero/drivetrain/SwerveUtils.h