BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.roadrunner.parameters/DriveModel/Builder

Builder

open class Builder

Builder class to assist in creating a DriveModel.

Constructors

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constructor()

Functions

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@NonNull
open fun build(): DriveModel
Finalise the configuration and build the DriveModel.
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@NonNull
open fun setComputedInPerTick(ticksPerRevolution: Double, gearRatio: Double, @NonNull wheelDiameter: Measure<Distance>): DriveModel.Builder
Set the inches per tick for the drive as a result of a precomputed ratio.
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@NonNull
open fun setComputedLateralInPerTick(ticksPerRevolution: Double, gearRatio: Double, @NonNull wheelDiameter: Measure<Distance>): DriveModel.Builder
Set the inches per tick for lateral movement as a result of a precomputed ratio.
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@NonNull
open fun setDistPerTick(@NonNull measuredDistance: Measure<Distance>, reportedTicks: Double): DriveModel.Builder
Set the inches per tick for the drive as a result of movement and encoder ticks.
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@NonNull
open fun setInPerTick(inPerTick: Double): DriveModel.Builder
Set the inches per tick for the drive as a result of a tuned measurement ratio.
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@NonNull
open fun setLateralDistPerTick(@NonNull measuredDistance: Measure<Distance>, reportedTicks: Double): DriveModel.Builder
Set the inches per tick for lateral movement as a result of movement and encoder ticks.
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@NonNull
open fun setLateralInPerTick(lateralInPerTick: Double): DriveModel.Builder
Set the inches per tick for lateral movement as a result of a tuned measurement ratio.
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@NonNull
open fun setTrackWidthTicks(trackWidthTicks: Double): DriveModel.Builder
Set the track width in encoder ticks.