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

Coefficients

open class Coefficients

Coefficients for RoadRunner two wheel tracking localizer. Reworked to use a builder for multiple robot configurations.

Author

Lucas Bubner, 2023

Constructors

Link copied to clipboard
constructor()

Types

Link copied to clipboard
open class Builder
Utility class for building TwoWheelLocalizer.

Properties

Link copied to clipboard
open var GEAR_RATIO: Double
Gear ratio of the tracking wheels.
Link copied to clipboard
open var PARALLEL_X: Double
Position in the forward direction of the parallel wheels in inches
Link copied to clipboard
open var PARALLEL_Y: Double
Position in the strafe direction of the parallel wheels in inches
Link copied to clipboard
open var PERPENDICULAR_X: Double
Position in the forward direction of the perpendicular wheels in inches
Link copied to clipboard
open var PERPENDICULAR_Y: Double
Position in the strafe direction of the perpendicular wheels in inches
Link copied to clipboard
open var TICKS_PER_REV: Double
The number of ticks per revolution of the encoders
Link copied to clipboard
open var USE_CORRECTED_COUNTS: Boolean
Whether to use corrected overflow counts if the TPS exceeds 32767.
Link copied to clipboard
open var WHEEL_RADIUS: Double
The radius of the tracking wheels in inches
Link copied to clipboard
open var X_MULTIPLIER: Double
Multiplicative scale of the ticks from the x (forward) axis.
Link copied to clipboard
open var Y_MULTIPLIER: Double
Multiplicative scale of the ticks from the y (strafe) axis.