org.usfirst.frc.team1736.lib.SignalMath

Class DerivativeCalculator

java.lang.Object

org.usfirst.frc.team1736.lib.SignalMath.DerivativeCalculator

public class DerivativeCalculator
extends java.lang.Object

Class which implements a simple discrete-time derivative calculation. Output is equal to the rate of change of the input signal in units of per second.

Constructor Summary

Constructors

Constructor and Description
DerivativeCalculator() Constructor for derivative calculator.

Method Summary

Modifier and Type	Method and Description
double	calcDeriv(double in) Given a new input value, output its derivative based on the last time the method was invoked.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DerivativeCalculator

public DerivativeCalculator()

Constructor for derivative calculator. Note that you should instantiate one of these classes per signal we wish to take the derivative of.

Method Detail

calcDeriv

public double calcDeriv(double in)

Given a new input value, output its derivative based on the last time the method was invoked. The idea is you would read a signal, then call this method with this new signal value, so you have the derivative right there. Then use it later on.

Parameters:

in - input to take the derivative of

Returns:

the derivative of the signal "in" in units of in/sec.