BunyipsLib/org.murraybridgebunyips.bunyipslib.roadrunner.drive.localizers/ThreeWheelLocalizer/Coefficients/Builder

Builder

open class Builder

Utility builder for creating new coefficients.

Constructors

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constructor()
Start building.

Functions

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open fun build(): ThreeWheelLocalizer.Coefficients
Build the coefficients.
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open fun setForwardOffset(forwardOffset: Measure<Distance>): ThreeWheelLocalizer.Coefficients.Builder
Set the forward offset of the lateral tracking wheel to the center of rotation.
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open fun setGearRatio(gearRatio: Double): ThreeWheelLocalizer.Coefficients.Builder
Set the gear ratio of the tracking wheel.
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open fun setLateralDistance(lateralDistance: Measure<Distance>): ThreeWheelLocalizer.Coefficients.Builder
Set the lateral distance between the left and right tracking wheels.
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open fun setOverflowCompensation(correctEncoderCounts: Boolean): ThreeWheelLocalizer.Coefficients.Builder
Set overflow compensation to be used on the localizer.
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open fun setTicksPerRev(ticksPerRev: Double): ThreeWheelLocalizer.Coefficients.Builder
Set the ticks per revolution of the tracking wheel encoder.
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open fun setWheelRadius(wheelRadius: Measure<Distance>): ThreeWheelLocalizer.Coefficients.Builder
Set the radius of the tracking wheel.
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open fun setXMultiplier(forwardMul: Double): ThreeWheelLocalizer.Coefficients.Builder
Set the forward (x) multiplier for the ticks reported by the forward deadwheels.
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open fun setYMultiplier(strafeMul: Double): ThreeWheelLocalizer.Coefficients.Builder
Set the strafe (y) multiplier for the ticks reported by the side deadwheel.