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

Package-level declarations

Types

data class Constants(val driveModel: DriveModel, val motionProfile: MotionProfile, val turnActionFactory: TurnActionFactory, val trajectoryActionFactory: TrajectoryActionFactory, val trajectoryBuilderParams: TrajectoryBuilderParams, val beginEndVel: Double, val baseTurnConstraints: TurnConstraints, val baseVelConstraint: VelConstraint, val baseAccelConstraint: AccelConstraint)

Data class storing all the required constants for using RoadRunner motion planning.

DriveModel

open class DriveModel

Drive model parameters for inches per tick and track width configuration.

ErrorThresholds

data class ErrorThresholds(val stabilizationTimeout: Measure<Time>, val maxTranslationalError: Measure<Distance>, val minVelStab: Measure<Velocity<Distance>>, val maxAngularError: Measure<Angle>, val minAngVelStab: Measure<Velocity<Angle>>)

Data class for storing constants related to extra correction for Mecanum drive stabilization. This extra correction is not possible in Tank drives due to the non-holonomic constraints.

MecanumGains

open class MecanumGains

Drive coefficients that define gains for a Mecanum drivetrain.

MotionProfile

open class MotionProfile

Drive motion profile parameters for feedforward, pathing, and turn control.

TankGains

open class TankGains

Drive coefficients that define gains for a Tank drivetrain.