/// <summary>
/// Constructor
/// </summary>
/// <param name="name">name of the control</param>
/// <param name="joystick">WPI joysick the control will use</param>
/// <param name="axis">the axis to use</param>
/// <param name="fitFunction">the fit function to use, see Filters class in Base</param>
/// <param name="reversed">if the control is reversed</param>
/// <param name="deadZone">the deadzone of the axis</param>
/// <param name="multiplier">the output multiplier</param>
/// <param name="power">the power for the fit function, see Filters class in Base</param>
/// <param name="isEnabled">determins whether the control is enabled or not</param>
public AxisControl(string name, Joystick joystick, int axis, MotorControlFitFunction fitFunction, bool reversed,
double deadZone, bool isEnabled, double multiplier = 1, double power = 2)
{
IsEnabled = isEnabled;
ControlName = name;
ControlType = ControlItemType.AxisControl;
this.deadZone = deadZone;
this.multiplier = multiplier;
this.power = power;
this.axis = axis;
this.joystick = joystick;
IsReversed = reversed;
switch (fitFunction)
{
case MotorControlFitFunction.Linear:
this.fitFunction = Filters._LinearValueEstimator;
break;
case MotorControlFitFunction.Quadratic:
this.fitFunction = Filters._QuadraticValueEstimator;
break;
case MotorControlFitFunction.Polynomial:
this.fitFunction = Filters._PolynomialValueEstimator;
break;
case MotorControlFitFunction.Exponential:
this.fitFunction = Filters._ExponentialValueEstimator;
break;
default:
throw new ArgumentOutOfRangeException(nameof(fitFunction), fitFunction, null);
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="name">name of the control</param>
/// <param name="fitFunction">fit function to use, see Filters class</param>
/// <param name="fitPower">power for fit function, see Filters class</param>
/// <param name="bindTo">IComponent bindings by CommonName</param>
/// <param name="axis">axis on the controller</param>
/// <param name="deadZone">deadzone on the axis</param>
/// <param name="powerMultiplier">output power multiplier</param>
/// <param name="reversed">if the control should be reversed</param>
/// <param name="isEnabled">Defines if the control is enabled by default or not</param>
public DriverControlSchema(string name, MotorControlFitFunction fitFunction, double fitPower,
List <CommonName> bindTo, int axis, double deadZone, double powerMultiplier = 1, bool reversed = false,
bool isEnabled = true)
{
Name = name;
ControlType = ControlType.Axis;
Bindings = bindTo;
Axis = axis;
DeadZone = deadZone;
PowerMultiplier = powerMultiplier;
Reversed = reversed;
FitFunction = fitFunction;
FitPower = fitPower;
IsEnabled = isEnabled;
}
