HolonomicController
constructor(axialPosGain: Double, lateralPosGain: Double, headingGain: Double, axialVelGain: Double, lateralVelGain: Double, headingVelGain: Double)
Proportional position-velocity controller for a holonomic robot. This is essentially a P controller on the robot's position and a P controller on its velocity.
Parameters
axialPosGain
gain for position in the robot's forward direction
lateralPosGain
gain for position in the robot's strafe direction
headingGain
gain for the robot's heading
axialVelGain
gain for velocity in the robot's forward direction
lateralVelGain
gain for velocity in the robot's strafe direction
headingVelGain
gain for the robot's heading velocity