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

Vel

class Vel

Utility constructor for creating simple RoadRunner translation velocity constraints.

Author

Lucas Bubner, 2024

Since

6.0.0

Properties

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@Nullable
open var maxAngVelRadsPerSec: Double
Specified maximum angular velocity in radians per second.
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@Nullable
open var maxVelInchesPerSec: Double
Specified maximum translation velocity in inches per second.

Functions

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@NonNull
open fun andMax(maxVel: Double, @NonNull unit: Velocity<Distance>): Vel
Compose this Vel object with a maximum translation velocity constraint.
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@NonNull
open fun andMaxAng(maxAngVel: Double, @NonNull unit: Velocity<Angle>): Vel
Compose this Vel object with a maximum angular velocity constraint.
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@NonNull
open fun getOrDefault(@NonNull defaultVelConstraint: VelConstraint, @NonNull defaultAngVelConstraint: VelConstraint): MinVelConstraint
Get a built MinVelConstraint object with the specified constraints.
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@NonNull
open fun ofMax(maxVel: Double, @NonNull unit: Velocity<Distance>): Vel
Create a new Vel object with the specified maximum translation velocity.
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@NonNull
open fun ofMaxAng(maxAngVel: Double, @NonNull unit: Velocity<Angle>): Vel
Create a new Vel object with the specified maximum angular velocity.