Package choreo.trajectory

Class ProjectFile.Config

java.lang.Object

choreo.trajectory.ProjectFile.Config

Enclosing class:

ProjectFile

public static class ProjectFile.Config
extends Object

The user configuration of the project.

Field Summary

Fields

Modifier and Type	Field	Description
final ProjectFile.XYExpression	backLeft	The position of the back left module
final ProjectFile.Bumpers	bumper	The bumpers of the robot.
final ProjectFile.Expression	cof	The Coefficient of Friction (CoF) of the wheels.
final ProjectFile.Expression	differentialTrackWidth	The width between the wheels of the robot.
final ProjectFile.XYExpression	frontLeft	The position of the front left module
final ProjectFile.Expression	gearing	The gearing of the robot.
final ProjectFile.Expression	inertia	The inertia of the robot.
final ProjectFile.Expression	mass	The mass of the robot.
final ProjectFile.Expression	tmax	The maximum torque of the robot.
final ProjectFile.Expression	vmax	The maximum velocity of the robot.
final ProjectFile.Expression	wheelRadius	The radius of the wheel.

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

frontLeft

public final ProjectFile.XYExpression frontLeft

The position of the front left module

backLeft

public final ProjectFile.XYExpression backLeft

The position of the back left module

mass

public final ProjectFile.Expression mass

The mass of the robot. (kg)

inertia

public final ProjectFile.Expression inertia

The inertia of the robot. (kg-m²)

gearing

public final ProjectFile.Expression gearing

The gearing of the robot.

wheelRadius

public final ProjectFile.Expression wheelRadius

The radius of the wheel. (m)

vmax

public final ProjectFile.Expression vmax

The maximum velocity of the robot. (m/s)

tmax

public final ProjectFile.Expression tmax

The maximum torque of the robot. (N-m)

cof

public final ProjectFile.Expression cof

The Coefficient of Friction (CoF) of the wheels.

bumper

public final ProjectFile.Bumpers bumper

The bumpers of the robot.

differentialTrackWidth

public final ProjectFile.Expression differentialTrackWidth

The width between the wheels of the robot. (m)