core/com.acmerobotics.roadrunner/HolonomicController

HolonomicController

class HolonomicController(    val axialPosGain: Double,     val lateralPosGain: Double,     val headingGain: Double,     val axialVelGain: Double,     val lateralVelGain: Double,     val headingVelGain: Double)
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Proportional position-velocity controller for a holonomic robot.

Constructors

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fun HolonomicController(    axialPosGain: Double,     lateralPosGain: Double,     headingGain: Double)
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fun HolonomicController(    axialPosGain: Double,     lateralPosGain: Double,     headingGain: Double,     axialVelGain: Double,     lateralVelGain: Double,     headingVelGain: Double)
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Functions

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fun compute(    targetPose: Pose2dDual<Time>,     actualPose: Pose2d,     actualVelActual: Twist2d): Twist2dDual<Time>
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Computes the velocity and acceleration command. The frame Target is the reference robot, and the frame Actual is the measured, physical robot.

Properties

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@JvmField
val axialPosGain: Double
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@JvmField
val axialVelGain: Double
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@JvmField
val headingGain: Double
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@JvmField
val headingVelGain: Double
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@JvmField
val lateralPosGain: Double
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@JvmField
val lateralVelGain: Double
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