ftc/gay.zharel.hermes.ftc/MecanumDrive/Parameters

Parameters

data class Parameters(var axialGains: PosVelGain = PosVelGain(0.1), var lateralGains: PosVelGain = PosVelGain(0.1), var headingGains: PosVelGain = PosVelGain(0.1), var maxWheelVel: Double = 50.0, var minTransAccel: Double = -30.0, var maxTransAccel: Double = 50.0, var maxAngVel: Double = Math.PI, var maxAngAccel: Double = Math.PI)

Configuration parameters for the mecanum drive system.

Constructors

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constructor(axialGains: PosVelGain = PosVelGain(0.1), lateralGains: PosVelGain = PosVelGain(0.1), headingGains: PosVelGain = PosVelGain(0.1), maxWheelVel: Double = 50.0, minTransAccel: Double = -30.0, maxTransAccel: Double = 50.0, maxAngVel: Double = Math.PI, maxAngAccel: Double = Math.PI)

Properties

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@JvmField
var axialGains: PosVelGain

PID gains for forward/backward movement control

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@JvmField
var headingGains: PosVelGain

PID gains for rotational movement control

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@JvmField
var lateralGains: PosVelGain

PID gains for left/right strafe movement control

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@JvmField
var maxAngAccel: Double

Maximum angular acceleration in radians per second squared

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@JvmField
var maxAngVel: Double

Maximum angular velocity in radians per second

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@JvmField
var maxTransAccel: Double

Maximum translational acceleration in inches per second squared

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@JvmField
var maxWheelVel: Double

Maximum velocity for any individual wheel in inches per second

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@JvmField
var minTransAccel: Double

Minimum (most negative) translational acceleration in inches per second squared