BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.roadrunner.parameters/MotionProfile/Builder

Builder

open class Builder

Builder class to assist in creating a DriveProfile.

Constructors

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constructor()

Functions

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@NonNull
open fun build(): MotionProfile
Build the drive profile.
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@NonNull
open fun setKa(kA: Double): MotionProfile.Builder
Set the acceleration feedforward gain in tick units.
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@NonNull
open fun setKs(kS: Double): MotionProfile.Builder
Set the static feedforward gain in tick units.
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@NonNull
open fun setKv(kV: Double): MotionProfile.Builder
Set the velocity feedforward gain in tick units.
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@NonNull
open fun setMaxAngAccel(@NonNull maxAngAccel: Measure<Velocity<Velocity<Angle>>>): MotionProfile.Builder
Set the maximum angular acceleration.
@NonNull
open fun setMaxAngAccel(maxAngAccel: Double): MotionProfile.Builder
Set the maximum angular acceleration in radians per second squared.
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@NonNull
open fun setMaxAngVel(@NonNull maxAngVel: Measure<Velocity<Angle>>): MotionProfile.Builder
Set the maximum angular velocity.
@NonNull
open fun setMaxAngVel(maxAngVel: Double): MotionProfile.Builder
Set the maximum angular velocity in radians per second.
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@NonNull
open fun setMaxProfileAccel(@NonNull maxAccel: Measure<Velocity<Velocity<Distance>>>): MotionProfile.Builder
Set the upper acceleration profile limit.
@NonNull
open fun setMaxProfileAccel(maxProfileAccel: Double): MotionProfile.Builder
Set the upper acceleration profile limit in inches per second squared.
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@NonNull
open fun setMaxWheelVel(@NonNull maxVelocity: Measure<Velocity<Distance>>): MotionProfile.Builder
Set the maximum wheel velocity.
@NonNull
open fun setMaxWheelVel(maxWheelVel: Double): MotionProfile.Builder
Set the maximum wheel velocity in inches per second.
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@NonNull
open fun setMinProfileAccel(@NonNull minAccel: Measure<Velocity<Velocity<Distance>>>): MotionProfile.Builder
Set the lower acceleration profile limit.
@NonNull
open fun setMinProfileAccel(minProfileAccel: Double): MotionProfile.Builder
Set the lower acceleration profile limit in inches per second squared.