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

Coefficients

open class Coefficients

Constants for RoadRunner standard tracking wheels. Reworked to use a builder for multiple robot configurations.

Author

Lucas Bubner, 2023

Constructors

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constructor()

Types

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open class Builder
Utility builder for creating new coefficients.

Properties

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open var FORWARD_OFFSET: Double
Forward offset of the lateral wheel to the center of rotation.
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open var GEAR_RATIO: Double
Gear ratio of the tracking wheels.
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open var LATERAL_DISTANCE: Double
Inches of lateral distance between the left and right wheels.
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open var TICKS_PER_REV: Double
Ticks per revolution of the tracking wheel encoders.
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open var USE_CORRECTED_COUNTS: Boolean
Whether to use corrected overflow counts if the TPS exceeds 32767.
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open var WHEEL_RADIUS: Double
Radius of the tracking wheels in inches.
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open var X_MULTIPLIER: Double
Multiplicative scale of the ticks from the x (forward) axis.
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open var Y_MULTIPLIER: Double
Multiplicative scale of the ticks from the y (strafe) axis.