MecanumDriveBuilder

Builder class for constructing a MecanumDrive instance with custom parameters.

This builder provides a fluent API for configuring drive parameters before constructing the final MecanumDrive object.

Constructors

constructor()

fun build(hardwareMap: HardwareMap, pose: Pose2d = Pose2d.zero): MecanumDrive

Builds and returns a new MecanumDrive instance with the configured parameters.

fun withAxialGains(posGain: Double, velGain: Double): <Error class: unknown class>

Sets the axial (forward/backward) PID gains.

fun withHeadingGains(posGain: Double, velGain: Double): <Error class: unknown class>

Sets the heading (rotational) PID gains.

fun withLateralGains(posGain: Double, velGain: Double): <Error class: unknown class>

Sets the lateral (left/right strafe) PID gains.

fun withMaxAngAccel(maxAngAccel: Double): <Error class: unknown class>

Sets the maximum angular acceleration.

fun withMaxAngVel(maxAngVel: Double): <Error class: unknown class>

Sets the maximum angular velocity.

fun withMaxWheelVel(maxWheelVel: Double): <Error class: unknown class>

Sets the maximum wheel velocity.

fun withTransAccelLimits(minTransAccel: Double, maxTransAccel: Double): <Error class: unknown class>

Sets the translational acceleration limits.