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

Builder

open class Builder

Utility builder to make constructing the coefficients easier.

Constructors

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constructor()
Begin building the coefficients.

Functions

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open fun build(): MecanumCoefficients
Build the coefficients.
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open fun setHeadingPID(headingPID: PIDCoefficients): MecanumCoefficients.Builder
Set the heading PID coefficients.
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open fun setLateralMultiplier(lateralMultiplier: Double): MecanumCoefficients.Builder
Set the lateral multiplier, which is used to ensure the robot moves in a straight line.
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open fun setOmegaWeight(omegaWeight: Double): MecanumCoefficients.Builder
Set the weight of the angular velocity in the drive vector.
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open fun setTranslationalPID(translationalPID: PIDCoefficients): MecanumCoefficients.Builder
Set the translational PID coefficients.
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open fun setVXWeight(vxWeight: Double): MecanumCoefficients.Builder
Set the weight of the x velocity in the drive vector.
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open fun setVYWeight(vyWeight: Double): MecanumCoefficients.Builder
Set the weight of the y velocity in the drive vector.