BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.roadrunner.constraints/Turn

Turn

class Turn

Utility constructor for creating RoadRunner turn constraints.

Author

Lucas Bubner, 2024

Since

6.0.0

Properties

maxAngAccelRadsPerSecSquared

@Nullable

open var maxAngAccelRadsPerSecSquared: Double

Specified maximum angular acceleration in radians per second squared.

maxAngVelRadsPerSec

@Nullable

open var maxAngVelRadsPerSec: Double

Specified maximum angular velocity in radians per second.

minAngAccelRadsPerSecSquared

@Nullable

open var minAngAccelRadsPerSecSquared: Double

Specified minimum angular acceleration in radians per second squared.

Functions

andMaxAccel

@NonNull

open fun andMaxAccel(maxAngAccel: Double, @NonNull unit: Velocity<Velocity<Angle>>): Turn

Compose this Turn object with a maximum angular acceleration constraint.

andMaxVel

@NonNull

open fun andMaxVel(maxAngVel: Double, @NonNull unit: Velocity<Angle>): Turn

Compose this Turn object with a maximum angular velocity constraint.

andMinAccel

@NonNull

open fun andMinAccel(minAngAccel: Double, @NonNull unit: Velocity<Velocity<Angle>>): Turn

Compose this Turn object with a minimum angular acceleration constraint.

getOrDefault

@NonNull

open fun getOrDefault(@NonNull defaultConstraints: TurnConstraints): TurnConstraints

Get a built TurnConstraints object with the specified constraints.

ofMaxAccel

@NonNull

open fun ofMaxAccel(maxAngAccel: Double, @NonNull unit: Velocity<Velocity<Angle>>): Turn

Create a new Turn object with the specified maximum angular acceleration.

ofMaxVel

@NonNull

open fun ofMaxVel(maxAngVel: Double, @NonNull unit: Velocity<Angle>): Turn

Create a new Turn object with the specified maximum angular velocity.

ofMinAccel

@NonNull

open fun ofMinAccel(minAngAccel: Double, @NonNull unit: Velocity<Velocity<Angle>>): Turn

Create a new Turn object with the specified minimum angular acceleration.