Package com.crossbotics.ftchelper.drive

Class StallDetector

java.lang.Object
com.crossbotics.ftchelper.drive.StallDetector
public final class StallDetector extends Object
Tells when a move is stuck: the distance left has not gone down enough for a while. Used by AutoDrive; you can use it for any mechanism with a target. 

 StallDetector stall = new StallDetector(0.25, 0.4);  // 0.25 in of progress within 0.4 s
 // every loop:
 if (stall.update(inchesLeft, seconds)) { ... stuck ... }

This checks progress over a time window, not per loop, so it works the same at any loop speed. (At 200 loops a second each loop moves only a tiny bit, so "did it move this loop?" would give false alarms; "did it move 0.25 in during the last 0.4 s?" does not.) Docs: docs/modules/drive.md (section "StallDetector")

  • Constructor Details

    • StallDetector

      public StallDetector(double minProgress, double windowSec)
      Parameters:
      minProgress - how much closer the move must get within the window (same unit as "remaining")
      windowSec - the window, seconds

  • Method Details

    • update

      public boolean update(double remaining, double timeSec)
      Call every loop.
      Parameters:
      remaining - how far is left to go (any unit, must go down as you move)
      timeSec - the time now, seconds (any starting point)
      Returns:
      true if stuck. Never true when remaining is already within minProgress.

    • reset

      public void reset()
      Starts over. Call before a new move.