/**
* @param wheelDiameter
* @param gearRatio
* @param threshold Amount of allowable error in number of encoder ticks to destination.
* @param slowDownStart Number of wheel revolutions before slowing down the first time.
* @param fineTuneStart Number of wheel revolutions before slowing down the second time.
* @param typePID Determines conversion factor (degrees to ticks or distance to ticks based off
* type)
* @param motors
*/
public EncoderPIDController(
double wheelDiameter,
int gearRatio,
double threshold,
double slowDownStart,
double fineTuneStart,
TypePID typePID,
DcMotor... motors) {
super(threshold, motors);
boolean isSymmetrical = (motors.length % 2 == 0);
int sides = 1;
if (isSymmetrical) {
sides = 2;
}
super.setSides(sides);
this.wheelDiameter = wheelDiameter;
this.gearRatio = gearRatio;
this.slowDownStart = slowDownStart;
this.fineTuneStart = fineTuneStart;
this.typePID = typePID;
switch (typePID) {
case DRIVE:
super.setConversionFactor(TICKS_PER_REVOLUTION / (wheelDiameter * Math.PI * gearRatio));
Log.d("SetTargets", "" + conversionFactor);
break;
case LIFT:
break;
default:
break;
}
targets = new double[sides];
}
