Config
data class Config(var trackWidth: Distance = Units.Meters.of(0.6), var wheelBase: Distance = Units.Meters.of(0.6), var maxLinearVelocity: LinearVelocity = Units.MetersPerSecond.of(4.5), var maxAngularVelocity: AngularVelocity = Units.RadiansPerSecond.of(2.0 * PI), var driveDeadband: Double = 0.02, var rotationDeadband: Double = 0.02)
Configuration for the swerve drive.
Constructors
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constructor(trackWidth: Distance = Units.Meters.of(0.6), wheelBase: Distance = Units.Meters.of(0.6), maxLinearVelocity: LinearVelocity = Units.MetersPerSecond.of(4.5), maxAngularVelocity: AngularVelocity = Units.RadiansPerSecond.of(2.0 * PI), driveDeadband: Double = 0.02, rotationDeadband: Double = 0.02)
Properties
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Deadband for drive inputs (0.0 to 1.0, unitless).
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Maximum angular velocity.
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Maximum linear velocity.
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Deadband for rotation input (0.0 to 1.0, unitless).
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Distance between left and right wheels.