Package com.lightningrobotics.common.subsystem.drivetrain.swerve

Class SwerveGains

java.lang.Object

com.lightningrobotics.common.subsystem.drivetrain.LightningGains

com.lightningrobotics.common.subsystem.drivetrain.swerve.SwerveGains

public class SwerveGains
extends LightningGains

Field Summary

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

MAX_VOLTAGE

Constructor Summary

Constructors

Constructor	Description
SwerveGains()
SwerveGains(double width, double length, double maxSpeed, double maxRealSpeed, double maxAcceleration, double maxAngularSpeed, boolean[] turnMotorInverts, boolean[] driveMotorInverts)

Method Summary

Modifier and Type	Method	Description
boolean[]	getDriveMotorInverts()
double	getLength()
double	getMaxAngularSpeed()
double	getMaxRealSpeed()
boolean[]	getTurnMotorInverts()
double	getWidth()
void	setDriveMotorInverts(boolean[] driveMotorInverts)
void	setLength(double length)
void	setMaxAngularSpeed(double maxAngularSpeed)
void	setMaxRealSpeed(double maxRealSpeed)
void	setTurnMotorInverts(boolean[] turnMotorInverts)
void	setWidth(double width)

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

getKinematics, getMaxAcceleration, getMaxSpeed, getTrackWidth, setKinematics, setMaxAcceleration, setMaxSpeed

Methods inherited from class java.lang.Object

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

Constructor Detail

SwerveGains

public SwerveGains()

SwerveGains

public SwerveGains(double width,
                   double length,
                   double maxSpeed,
                   double maxRealSpeed,
                   double maxAcceleration,
                   double maxAngularSpeed,
                   boolean[] turnMotorInverts,
                   boolean[] driveMotorInverts)

Method Detail

getWidth

public double getWidth()

setWidth

public void setWidth(double width)

getLength

public double getLength()

setLength

public void setLength(double length)

setMaxAngularSpeed

public void setMaxAngularSpeed(double maxAngularSpeed)

getMaxAngularSpeed

public double getMaxAngularSpeed()

getTurnMotorInverts

public boolean[] getTurnMotorInverts()

setTurnMotorInverts

public void setTurnMotorInverts(boolean[] turnMotorInverts)

getDriveMotorInverts

public boolean[] getDriveMotorInverts()

setDriveMotorInverts

public void setDriveMotorInverts(boolean[] driveMotorInverts)

getMaxRealSpeed

public double getMaxRealSpeed()

setMaxRealSpeed

public void setMaxRealSpeed(double maxRealSpeed)