core/gay.zharel.hermes.control/HolonomicController/HolonomicController

HolonomicController

constructor(axialPosGain: Double, lateralPosGain: Double, headingGain: Double, axialVelGain: Double, lateralVelGain: Double, headingVelGain: Double)

Proportional position-velocity controller for a holonomic robot. This is essentially a P controller on the robot's position and a P controller on its velocity.

Parameters

axialPosGain

gain for position in the robot's forward direction

lateralPosGain

gain for position in the robot's strafe direction

headingGain

gain for the robot's heading

axialVelGain

gain for velocity in the robot's forward direction

lateralVelGain

gain for velocity in the robot's strafe direction

headingVelGain

gain for the robot's heading velocity

constructor(axialPosGain: Double, lateralPosGain: Double, headingGain: Double)
constructor(axialGains: PosVelGain, lateralGains: PosVelGain, headingGains: PosVelGain)