Volt/dev.kingssack.volt.attachment.drivetrain.rr.mecanum/MecanumRoadRunnerDrivetrain/DriveParams

DriveParams

class DriveParams(val logoFacingDirection: RevHubOrientationOnRobot.LogoFacingDirection = LogoFacingDirection.UP, val usbFacingDirection: RevHubOrientationOnRobot.UsbFacingDirection = UsbFacingDirection.FORWARD, val leftFrontName: String = "lf", val leftFrontDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val leftBackName: String = "lr", val leftBackDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val rightBackName: String = "rr", val rightBackDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val rightFrontName: String = "rf", val rightFrontDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val inPerTick: Double = 1.0, val lateralInPerTick: Double = inPerTick, val trackWidthTicks: Double = 0.0, val kS: Double = 0.0, val kV: Double = 0.0, val kA: Double = 0.0, val maxWheelVel: Double = 50.0, val minProfileAccel: Double = -30.0, val maxProfileAccel: Double = 50.0, val maxAngVel: Double = Math.PI, val maxAngAccel: Double = Math.PI, val axialGain: Double = 0.0, val lateralGain: Double = 0.0, val headingGain: Double = 0.0, val axialVelGain: Double = 0.0, val lateralVelGain: Double = 0.0, val headingVelGain: Double = 0.0)

Parameters for MecanumRoadRunnerDrivetrain.

Constructors

DriveParams

constructor(logoFacingDirection: RevHubOrientationOnRobot.LogoFacingDirection = LogoFacingDirection.UP, usbFacingDirection: RevHubOrientationOnRobot.UsbFacingDirection = UsbFacingDirection.FORWARD, leftFrontName: String = "lf", leftFrontDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, leftBackName: String = "lr", leftBackDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, rightBackName: String = "rr", rightBackDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, rightFrontName: String = "rf", rightFrontDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, inPerTick: Double = 1.0, lateralInPerTick: Double = inPerTick, trackWidthTicks: Double = 0.0, kS: Double = 0.0, kV: Double = 0.0, kA: Double = 0.0, maxWheelVel: Double = 50.0, minProfileAccel: Double = -30.0, maxProfileAccel: Double = 50.0, maxAngVel: Double = Math.PI, maxAngAccel: Double = Math.PI, axialGain: Double = 0.0, lateralGain: Double = 0.0, headingGain: Double = 0.0, axialVelGain: Double = 0.0, lateralVelGain: Double = 0.0, headingVelGain: Double = 0.0)