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

Builder

open class Builder

Utility builder for creating new coefficients.

Constructors

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constructor()
Start building.

Functions

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open fun build(): TankCoefficients
Build the coefficients.
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open fun setAxialPID(axialPID: PIDCoefficients): TankCoefficients.Builder
Set the axial (forward) PID coefficients.
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open fun setCrossTrackPID(crossTrackPID: PIDCoefficients): TankCoefficients.Builder
Set the cross-track (strafe) PID coefficients.
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open fun setHeadingPID(headingPID: PIDCoefficients): TankCoefficients.Builder
Set the heading PID coefficients.
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open fun setOmegaWeight(omegaWeight: Double): TankCoefficients.Builder
Set the weight for the velocity error in the heading PID.
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open fun setVXWeight(vxWeight: Double): TankCoefficients.Builder
Set the weight for the velocity error in the axial PID.