Package com.lightningrobotics.common.subsystem.drivetrain.differential

Class DifferentialGains

java.lang.Object

com.lightningrobotics.common.subsystem.drivetrain.LightningGains

com.lightningrobotics.common.subsystem.drivetrain.differential.DifferentialGains

public class DifferentialGains
extends LightningGains

Field Summary

Fields inherited from class com.lightningrobotics.common.subsystem.drivetrain.LightningGains

MAX_VOLTAGE

Constructor Summary

Constructors

Constructor	Description
DifferentialGains()
DifferentialGains(double maxSpeed, double maxAcceleration, double trackWidth, boolean[] leftInverts, boolean[] rightInverts, PIDFController driveController, FeedForwardController driveFFController)

Method Summary

Modifier and Type	Method	Description
FeedForwardController	getFeedForwardController()
DifferentialKinematics	getKinematics()
boolean[]	getLeftInverts()
PIDFController	getPIDFController()
boolean[]	getRightInverts()
double	getTrackWidth()
void	setLeftInverts(boolean[] leftInverts)
void	setRightInverts(boolean[] rightInverts)
void	setTrackWidth(int trackWidth)

Methods inherited from class com.lightningrobotics.common.subsystem.drivetrain.LightningGains

getMaxAcceleration, getMaxSpeed, setKinematics, setMaxAcceleration, setMaxSpeed

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DifferentialGains

public DifferentialGains()

DifferentialGains

public DifferentialGains(double maxSpeed,
                         double maxAcceleration,
                         double trackWidth,
                         boolean[] leftInverts,
                         boolean[] rightInverts,
                         PIDFController driveController,
                         FeedForwardController driveFFController)

Method Detail

getKinematics

public DifferentialKinematics getKinematics()

Overrides:

getKinematics in class LightningGains

getTrackWidth

public double getTrackWidth()

Overrides:

getTrackWidth in class LightningGains

setTrackWidth

public void setTrackWidth(int trackWidth)

getLeftInverts

public boolean[] getLeftInverts()

setLeftInverts

public void setLeftInverts(boolean[] leftInverts)

getRightInverts

public boolean[] getRightInverts()

setRightInverts

public void setRightInverts(boolean[] rightInverts)

getPIDFController

public PIDFController getPIDFController()

getFeedForwardController

public FeedForwardController getFeedForwardController()