ftc/gay.zharel.hermes.tuning

Package-level declarations

Types

AngularPushConfig

@Serializable

data class AngularPushConfig(var actualRevolutions: Double = 1.0)

AngularPushTest

class AngularPushTest(val lvf: LocalizerViewFactory) : OpMode

AngularRampConfig

@Serializable

data class AngularRampConfig(var thresholdRadiansPerSecond: Double = 0.1, var voltagePerSecond: Double = 1.0, var direction: Double = 1.0, var regressionParams: QuasistaticParameters = QuasistaticParameters())

AngularRampTest

class AngularRampTest(val dvf: DriveViewFactory, val lf: LocalizerFactory) : LinearOpMode

Quasistatic SysID routine for the drivetrain. Determines: kV, kS direction: +direction = counter-clockwise.

AngularStepConfig

@Serializable

data class AngularStepConfig(var voltageStep: Double = 10.0, var direction: Double = 1.0, var regressionParams: DynamicParameters = DynamicParameters())

AngularStepTest

class AngularStepTest(val dvf: DriveViewFactory, val lf: LocalizerFactory) : LinearOpMode

Dynamic SysID routine for the drivetrain. Determines: kA direction: +direction = counter-clockwise

ConfigurationException

class ConfigurationException(message: String? = null, cause: Throwable? = null) : Exception

you fucked up your config and now i am mad at you

CustomDrive

@Serializable

@SerialName(value = "CustomDrive")

object CustomDrive : DriveParameters

CustomDriveFeedforward

@Serializable

@SerialName(value = "CustomDriveFeedforward")

object CustomDriveFeedforward : DriveFeedforwardParameters

CustomLocalizer

@Serializable

@SerialName(value = "CustomLocalizer")

object CustomLocalizer : LocalizerParameters

DashUtility

object DashUtility

DataFilter

object DataFilter

DriveFeedforward

@Serializable

@SerialName(value = "DriveFeedforward")

data class DriveFeedforward(var translational: FeedforwardParameters = FeedforwardParameters(), var rotational: FeedforwardParameters = FeedforwardParameters()) : DriveFeedforwardParameters

DriveFeedforwardParameters

sealed interface DriveFeedforwardParameters

DriveParameters

sealed interface DriveParameters

DrivetrainConfigDriveView

interface DrivetrainConfigDriveView

DrivetrainConfigTest

class DrivetrainConfigTest(val dvf: DrivetrainConfigViewFactory, val lf: LocalizerFactory) : LinearOpMode

Automatically configures the motors for a drivetrain.

DrivetrainConfigurationConfig

@Serializable

data class DrivetrainConfigurationConfig(var motorNames: MutableList<String> = arrayListOf(), var chosenMotors: MutableList<String> = arrayListOf("", "", "", "", "", "", "", "",))

DrivetrainConfigViewFactory

interface DrivetrainConfigViewFactory

DriveType

enum DriveType : Enum<DriveType>

DriveView

interface DriveView

DriveViewFactory

interface DriveViewFactory

DummyParameters

@Serializable

@SerialName(value = "DummyParameters")

object DummyParameters : LocalizerParameters, DriveParameters, DriveFeedforwardParameters

DynamicParameters

@Serializable

data class DynamicParameters(val voltages: MutableSignal = MutableSignal(), val accelerations: MutableSignal = MutableSignal())

FeedforwardParameters

@Serializable

data class FeedforwardParameters(var kStatic: Double = 0.0, var kV: Double = 0.0, var kA: Double = 0.0)

ForwardPushConfig

@Serializable

data class ForwardPushConfig(var actualInchesTravelled: Double = 24.0)

ForwardPushTest

class ForwardPushTest(val lvf: LocalizerViewFactory) : OpMode

ForwardRampConfig

@Serializable

data class ForwardRampConfig(var thresholdInchesPerSecond: Double = 0.1, var voltagePerSecond: Double = 1.0, var direction: Double = 1.0, var regressionParams: QuasistaticParameters = QuasistaticParameters())

ForwardRampTest

class ForwardRampTest(val dvf: DriveViewFactory, val lf: LocalizerFactory) : LinearOpMode

Quasistatic SysID routine for the drivetrain. Determines: kV, kS direction: +direction = forward

ForwardStepConfig

@Serializable

data class ForwardStepConfig(var voltageStep: Double = 10.0, var direction: Double = 1.0, var regressionParams: DynamicParameters = DynamicParameters())

ForwardStepTest

class ForwardStepTest(val dvf: DriveViewFactory, val lf: LocalizerFactory) : LinearOpMode

Dynamic SysID routine for the drivetrain. Determines: kA direction: +direction = forward

HardwareMapCache

object HardwareMapCache

HermesConfig

object HermesConfig : PersistentConfig

HolonomicDriveFeedforward

@Serializable

@SerialName(value = "HolonomicDriveFeedforward")

data class HolonomicDriveFeedforward(var axial: FeedforwardParameters = FeedforwardParameters(), var lateral: FeedforwardParameters = FeedforwardParameters(), var rotational: FeedforwardParameters = FeedforwardParameters()) : DriveFeedforwardParameters

HolonomicDriveView

interface HolonomicDriveView : DriveView

LateralPushConfig

@Serializable

data class LateralPushConfig(var actualInchesTravelled: Double = 24.0)

LateralPushTest

class LateralPushTest(val lvf: LocalizerViewFactory) : OpMode

LocalizerFactory

interface LocalizerFactory

LocalizerParameters

sealed interface LocalizerParameters

LocalizerTuner

interface LocalizerTuner

LocalizerType

enum LocalizerType : Enum<LocalizerType>

LocalizerViewFactory

interface LocalizerViewFactory

MecanumConfigDriveView

class MecanumConfigDriveView(hardwareMap: HardwareMap) : DrivetrainConfigDriveView

MecanumDriveView

class MecanumDriveView(parameters: MecanumParameters, hardwareMap: HardwareMap) : HolonomicDriveView

MecanumParameters

@Serializable

@SerialName(value = "MecanumParameters")

data class MecanumParameters(var trackWidth: Double = 0.0, var wheelBase: Double = 0.0, var leftFront: MotorConfig = MotorConfig(), var leftBack: MotorConfig = MotorConfig(), var rightFront: MotorConfig = MotorConfig(), var rightBack: MotorConfig = MotorConfig()) : DriveParameters

MidpointTimer

class MidpointTimer

MotorConfig

@Serializable

data class MotorConfig(var name: String = "", var direction: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD)

MotorFetchOpMode

class MotorFetchOpMode : LinearOpMode

MutableSignal

@Serializable

class MutableSignal(val times: MutableList<Double> = mutableListOf(), val values: MutableList<Double> = mutableListOf())

OdometryPodType

enum OdometryPodType : Enum<OdometryPodType>

PersistentConfig

open class PersistentConfig(val configName: String, configFile: File)

PersistentConfigDelegate

class PersistentConfigDelegate<T>(val keyName: String, val defaultValue: T, val config: PersistentConfig)

PersistentConfigReader

class PersistentConfigReader(val configFile: File)

PersistentConfigValueProvider

class PersistentConfigValueProvider<T>(val wrappedProvider: ValueProvider<T>, val config: PersistentConfig) : ValueProvider<T>

PersistentConfigWriter

open class PersistentConfigWriter(val configFile: File)

PinpointEncoderType

enum PinpointEncoderType : Enum<PinpointEncoderType>

PinpointParameters

@Serializable

@SerialName(value = "PinpointParameters")

data class PinpointParameters(var inPerTick: Double = 1.0, var name: String = "pinpoint", var parYTicks: Double = 0.0, var perpXTicks: Double = 0.0, var parDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, var perpDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD) : LocalizerParameters

PinpointTuner

class PinpointTuner(hardwareMap: HardwareMap) : LocalizerTuner

QuasistaticParameters

@Serializable

data class QuasistaticParameters(val voltages: MutableSignal = MutableSignal(), val velocities: MutableSignal = MutableSignal())

RobotConfig

@Serializable

data class RobotConfig(var drive: DriveParameters = DummyParameters, var feedforward: DriveFeedforwardParameters = DummyParameters, var localizer: LocalizerParameters = DummyParameters)

TankParameters

@Serializable

@SerialName(value = "TankParameters")

data class TankParameters(var trackWidth: Double = 0.0, var wheelBase: Double = 0.0, var leftMotors: MutableList<MotorConfig> = arrayListOf(MotorConfig(), MotorConfig()), var rightMotors: MutableList<MotorConfig> = arrayListOf(MotorConfig(), MotorConfig()))

TuningAxialSensor

open class TuningAxialSensor(val sensorOutput: () -> PositionVelocityPair, val movementThreshold: Double = 10000.0)

Relative axial sensor class that measures movement throughout the OpMode. Examples: motor encoder, odometry pod.

TuningConfig

@Serializable

data class TuningConfig(var odometryPodType: OdometryPodType = OdometryPodType.OTHER, var localizer: LocalizerType = LocalizerType.CUSTOM, var drive: DriveType = DriveType.CUSTOM, var warnings: List<String> = arrayListOf(), val forwardPush: ForwardPushConfig = ForwardPushConfig(), val lateralPush: LateralPushConfig = LateralPushConfig(), val angularPush: AngularPushConfig = AngularPushConfig(), val drivetrainConfig: DrivetrainConfigurationConfig = DrivetrainConfigurationConfig(), val forwardRamp: ForwardRampConfig = ForwardRampConfig(), val forwardStep: ForwardStepConfig = ForwardStepConfig(), val angularRamp: AngularRampConfig = AngularRampConfig(), val angularStep: AngularStepConfig = AngularStepConfig())

TuningConfigListener

object TuningConfigListener : PersistentConfig.Subscriber

TuningDrivetrainConfigViewFactory

object TuningDrivetrainConfigViewFactory : DrivetrainConfigViewFactory

TuningDriveViewFactory

object TuningDriveViewFactory : DriveViewFactory

TuningLocalizerFactory

object TuningLocalizerFactory : LocalizerFactory

TuningLocalizerViewFactory

object TuningLocalizerViewFactory : LocalizerViewFactory

TuningMotorEncoder

class TuningMotorEncoder(encoder: OverflowEncoder) : TuningAxialSensor