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

MecanumCoefficients

open class MecanumCoefficients

Mecanum drive coefficients that define robot amplitudes for a Mecanum drivetrain. These constants are constructed per robot with a builder pattern.

Author

Lucas Bubner, 2023

Since

1.0.0-pre

Constructors

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constructor()

Types

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open class Builder
Utility builder to make constructing the coefficients easier.

Properties

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open var HEADING_PID: PIDCoefficients
The heading PID coefficients to ensure the robot does not drift while moving.
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open var LATERAL_MULTIPLIER: Double
The lateral multiplier to ensure the robot moves in a straight line.
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open var OMEGA_WEIGHT: Double
The weight of the angular velocity in the drive vector.
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open var TRANSLATIONAL_PID: PIDCoefficients
The translational PID coefficients to ensure the robot moves in a straight line.
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open var VX_WEIGHT: Double
The weight of the x velocity in the drive vector.
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open var VY_WEIGHT: Double
The weight of the y velocity in the drive vector.