BunyipsLib/org.murraybridgebunyips.bunyipslib.roadrunner.drive/DriveConstants/Builder

Builder

open class Builder

Builder class to assist in making DriveConstants.

Constructors

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constructor()
Begin building a new DriveConstants object.

Functions

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open fun build(): DriveConstants
Finalise your configuration.
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open fun setAdmissibleError(admissibleError: Pose2d, admissibleTimeout: Double): DriveConstants.Builder
Set the admissible error for the PIDVA controller for trajectory following.
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open fun setGearRatio(gearRatio: Double): DriveConstants.Builder
Set the gear ratio of the drive motors
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open fun setKA(kA: Double): DriveConstants.Builder
Set the kA feedforward gain for the velocity PID.
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open fun setKStatic(kStatic: Double): DriveConstants.Builder
Set the kStatic feedforward gain for the velocity PID.
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open fun setKV(kV: Double): DriveConstants.Builder
Set the kV feedforward gain for the velocity PID.
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open fun setMaxAccel(maxAccel: Measure<Velocity<Velocity<Distance>>>): DriveConstants.Builder
Set the maximum acceleration of the robot.
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open fun setMaxAngAccel(maxAngAccel: Measure<Velocity<Velocity<Angle>>>): DriveConstants.Builder
Set the maximum angular acceleration of the robot.
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open fun setMaxAngVel(maxAngVel: Measure<Velocity<Angle>>): DriveConstants.Builder
Set the maximum angular velocity of the robot.
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open fun setMaxRPM(maxRPM: Double): DriveConstants.Builder
Set the maximum RPM of the motor.
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open fun setMaxVel(maxVel: Measure<Velocity<Distance>>): DriveConstants.Builder
Set the maximum velocity of the robot.
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open fun setMotorVeloPID(motorVeloPID: PIDFCoefficients): DriveConstants.Builder
Set the motor velocity PID coefficients.
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open fun setRunUsingEncoder(runUsingEncoder: Boolean): DriveConstants.Builder
Set whether to run using the encoder.
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open fun setTicksPerRev(ticksPerRev: Double): DriveConstants.Builder
Set the number of ticks per revolution of the motor's output shaft.
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open fun setTrackWidth(trackWidth: Measure<Distance>): DriveConstants.Builder
Set the track width of the robot.
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open fun setWheelRadius(wheelRadius: Measure<Distance>): DriveConstants.Builder
Set the wheel radius of the drive motors.