public RevisedBacklashCompensatingVelocityYoVariable(String name, String description, DoubleProvider alphaVariable, YoDouble positionVariable, double dt, DoubleProvider slopTime, YoVariableRegistry registry) { super(name, description, registry); finiteDifferenceVelocity = new FilteredVelocityYoVariable(name + "finiteDifferenceVelocity", "", alphaVariable, dt, registry); this.hasBeenCalled = new YoBoolean(name + "HasBeenCalled", registry); backlashState = new YoEnum<BacklashState>(name + "BacklashState", registry, BacklashState.class, true); backlashState.set(null); timeSinceSloppy = new YoDouble(name + "TimeSinceSloppy", registry); position = positionVariable; this.alphaVariable = alphaVariable; this.slopTime = slopTime; this.dt = dt; lastPosition = new YoDouble(name + "_lastPosition", registry); reset(); }
public RevisedBacklashCompensatingVelocityYoVariable(String name, String description, YoDouble alphaVariable, double dt, YoDouble slopTime, YoVariableRegistry registry) { super(name, description, registry); finiteDifferenceVelocity = new FilteredVelocityYoVariable(name + "finiteDifferenceVelocity", "", alphaVariable, dt, registry); this.hasBeenCalled = new YoBoolean(name + "HasBeenCalled", registry); backlashState = new YoEnum<BacklashState>(name + "BacklashState", registry, BacklashState.class, true); backlashState.set(null); timeSinceSloppy = new YoDouble(name + "timeInState", registry); this.position = null; this.alphaVariable = alphaVariable; this.slopTime = slopTime; this.dt = dt; lastPosition = new YoDouble(name + "_lastPosition", registry); reset(); }
public RevisedBacklashCompensatingVelocityYoVariable(String name, String description, DoubleYoVariable alphaVariable, DoubleYoVariable positionVariable, double dt, DoubleYoVariable slopTime, YoVariableRegistry registry) { super(name, description, registry); finiteDifferenceVelocity = new FilteredVelocityYoVariable(name + "finiteDifferenceVelocity", "", alphaVariable, dt, registry); this.hasBeenCalled = new BooleanYoVariable(name + "HasBeenCalled", registry); backlashState = new EnumYoVariable<BacklashState>(name + "BacklashState", registry, BacklashState.class, true); backlashState.set(null); timeSinceSloppy = new DoubleYoVariable(name + "TimeSinceSloppy", registry); position = positionVariable; this.alphaVariable = alphaVariable; this.slopTime = slopTime; this.dt = dt; lastPosition = new DoubleYoVariable(name + "_lastPosition", registry); reset(); }
public RevisedBacklashCompensatingVelocityYoVariable(String name, String description, DoubleYoVariable alphaVariable, double dt, DoubleYoVariable slopTime, YoVariableRegistry registry) { super(name, description, registry); finiteDifferenceVelocity = new FilteredVelocityYoVariable(name + "finiteDifferenceVelocity", "", alphaVariable, dt, registry); this.hasBeenCalled = new BooleanYoVariable(name + "HasBeenCalled", registry); backlashState = new EnumYoVariable<BacklashState>(name + "BacklashState", registry, BacklashState.class, true); backlashState.set(null); timeSinceSloppy = new DoubleYoVariable(name + "timeInState", registry); this.position = null; this.alphaVariable = alphaVariable; this.slopTime = slopTime; this.dt = dt; lastPosition = new DoubleYoVariable(name + "_lastPosition", registry); reset(); }