Volt/dev.kingssack.volt.attachment.drivetrain.rr.tank/TankRoadRunnerDrivetrain/DriveParams

DriveParams

class DriveParams(val logoFacingDirection: RevHubOrientationOnRobot.LogoFacingDirection = LogoFacingDirection.UP, val usbFacingDirection: RevHubOrientationOnRobot.UsbFacingDirection = UsbFacingDirection.FORWARD, val leftMotorNames: List<String> = listOf("left"), val leftMotorDirections: List<DcMotorSimple.Direction> = listOf(DcMotorSimple.Direction.FORWARD), val rightMotorNames: List<String> = listOf("right"), val rightMotorDirections: List<DcMotorSimple.Direction> = listOf(DcMotorSimple.Direction.FORWARD), val inPerTick: Double = 1.0, 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 ramseteZeta: Double = 0.7, val ramseteBBar: Double = 2.0, val turnGain: Double = 0.0, val turnVelGain: Double = 0.0)

Parameters for TankRoadRunnerDrivetrain.

Constructors

DriveParams

constructor(logoFacingDirection: RevHubOrientationOnRobot.LogoFacingDirection = LogoFacingDirection.UP, usbFacingDirection: RevHubOrientationOnRobot.UsbFacingDirection = UsbFacingDirection.FORWARD, leftMotorNames: List<String> = listOf("left"), leftMotorDirections: List<DcMotorSimple.Direction> = listOf(DcMotorSimple.Direction.FORWARD), rightMotorNames: List<String> = listOf("right"), rightMotorDirections: List<DcMotorSimple.Direction> = listOf(DcMotorSimple.Direction.FORWARD), inPerTick: Double = 1.0, 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, ramseteZeta: Double = 0.7, ramseteBBar: Double = 2.0, turnGain: Double = 0.0, turnVelGain: Double = 0.0)