lemlib::ChassisController_t Struct Reference

Struct containing constants for a chassis controller. More...

#include <chassis.hpp>

Public Attributes
float	kP
float	kD
float	smallError
float	smallErrorTimeout
float	largeError
float	largeErrorTimeout
float	slew

Detailed Description

Struct containing constants for a chassis controller.

The constants are stored in a struct so that they can be easily passed to the chassis class Set a constant to 0 and it will be ignored

Parameters

kP	proportional constant for the chassis controller
kD	derivative constant for the chassis controller
smallError	the error at which the chassis controller will switch to a slower control loop
smallErrorTimeout	the time the chassis controller will wait before switching to a slower control loop
largeError	the error at which the chassis controller will switch to a faster control loop
largeErrorTimeout	the time the chassis controller will wait before switching to a faster control loop
slew	the maximum acceleration of the chassis controller

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The documentation for this struct was generated from the following file:

• include/lemlib/chassis/chassis.hpp