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

Builder

open class Builder

Utility class for building TwoWheelLocalizer.Coefficients

Constructors

constructor()

Start building.

Functions

open fun build(): TwoWheelLocalizer.Coefficients

Build the coefficients.

open fun setGearRatio(gearRatio: Double): TwoWheelLocalizer.Coefficients.Builder

Set the gear ratio of the tracking wheel.

setOverflowCompensation

open fun setOverflowCompensation(correctEncoderCounts: Boolean): TwoWheelLocalizer.Coefficients.Builder

Set overflow compensation to be used on the localizer.

open fun setParallelX(parallelX: Measure<Distance>): TwoWheelLocalizer.Coefficients.Builder

Set the position of the parallel wheel in the forward direction.

open fun setParallelY(parallelY: Measure<Distance>): TwoWheelLocalizer.Coefficients.Builder

Set the position of the parallel wheel in the strafe direction.

setPerpendicularX

open fun setPerpendicularX(perpendicularX: Measure<Distance>): TwoWheelLocalizer.Coefficients.Builder

Set the position of the perpendicular wheel in the forward direction.

setPerpendicularY

open fun setPerpendicularY(perpendicularY: Measure<Distance>): TwoWheelLocalizer.Coefficients.Builder

Set the position of the perpendicular wheel in the strafe direction.

open fun setTicksPerRev(ticksPerRev: Double): TwoWheelLocalizer.Coefficients.Builder

Set the ticks per revolution of the tracking wheel encoder.

open fun setWheelRadius(wheelRadius: Measure<Distance>): TwoWheelLocalizer.Coefficients.Builder

Set the radius of the tracking wheel.

open fun setXMultiplier(forwardMul: Double): TwoWheelLocalizer.Coefficients.Builder

Set the forward (x) multiplier for the ticks reported by the forward deadwheel.

open fun setYMultiplier(strafeMul: Double): TwoWheelLocalizer.Coefficients.Builder

Set the strafe (y) multiplier for the ticks reported by the side deadwheel.