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

TankCoefficients

open class TankCoefficients

Tank drive coefficients that define robot amplitudes for a Tank 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 for creating new coefficients.

Properties

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open var AXIAL_PID: PIDCoefficients
PID coefficients for the axial (forward) control.
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open var CROSS_TRACK_PID: PIDCoefficients
PID coefficients for the cross-track (strafe) control.
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open var HEADING_PID: PIDCoefficients
PID coefficients for the heading control.
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open var OMEGA_WEIGHT: Double
Weight for the velocity error in the heading PID.
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open var VX_WEIGHT: Double
Weight for the velocity error in the axial PID.