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

Builder

open class Builder

Builder class to assist in creating a MecanumGains.

Constructors

constructor()

Functions

open fun build(): MecanumGains

Build the MecanumGains object.

open fun setAxialGain(axialGain: Double): MecanumGains.Builder

Set the proportional correction gain for forward/backward motion.

setAxialVelGain

open fun setAxialVelGain(axialVelGain: Double): MecanumGains.Builder

Set the dampening correction gain for forward/backward motion.

open fun setHeadingGain(headingGain: Double): MecanumGains.Builder

Set the proportional correction gain for rotation.

setHeadingVelGain

open fun setHeadingVelGain(headingVelGain: Double): MecanumGains.Builder

Set the dampening correction gain for rotation.

open fun setLateralGain(lateralGain: Double): MecanumGains.Builder

Set the proportional correction gain for sideways motion.

setLateralVelGain

open fun setLateralVelGain(lateralVelGain: Double): MecanumGains.Builder

Set the dampening correction gain for sideways motion.

setPathFollowing

open fun setPathFollowing(usePathFollowing: Boolean): MecanumGains.Builder

Enabling this option will use an alternative path follower for trajectory tasks, rather than a time-based trajectory.

open fun setPoseHolding(defaultTaskAutoLock: Boolean): MecanumGains.Builder

Enabling this option is a convenience configuration option to schedule the default task of MecanumDrive to be a MecanumDrive.HoldLastPoseTask.