Package ca.team3161.lib.robot.utils

Class ChassisParameters

java.lang.Object

ca.team3161.lib.robot.utils.ChassisParameters

public class ChassisParameters
extends java.lang.Object

Describes physical attributes of a Robot.

Constructor Summary

Constructors

Constructor	Description
ChassisParameters(double wheelRadius, double wheelBaseLength, double wheelBaseWidth, double encoderWheelGearRatio, double encoderCPR)	Construct a new ChassisParameters object.

Method Summary

Modifier and Type	Method	Description
boolean	equals(java.lang.Object o)
double	getEncoderCPR()	Get the number of ticks per revolution for the drivetrain encoders.
double	getEncoderWheelGearRatio()	Get the gear ratio between what the encoders measure and what the wheels experience.
double	getWheelBaseLength()	Get the wheelbase length.
double	getWheelBaseWidth()	Get the wheelbase width.
double	getWheelRadius()	Get the wheel radius.
int	hashCode()

Methods inherited from class java.lang.Object

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

Constructor Detail

ChassisParameters

public ChassisParameters(double wheelRadius,
                         double wheelBaseLength,
                         double wheelBaseWidth,
                         double encoderWheelGearRatio,
                         double encoderCPR)

Construct a new ChassisParameters object.

Parameters:

wheelRadius - the radius of the wheels on this Robot's drivetrain

wheelBaseLength - the length between the furthest forward and further backward axles on this Robot's drivetrain

wheelBaseWidth - the width between the left and ride side wheels on this Robot's drivetrain

encoderWheelGearRatio - the gear ratio between the output shaft the encoders are mounted on and the wheels

encoderCPR - the number of "ticks" the encoders on the drivetrain will count for each full revolution

Method Detail

getWheelRadius

public double getWheelRadius()

Get the wheel radius.

Returns:

the wheel radius

getWheelBaseLength

public double getWheelBaseLength()

Get the wheelbase length.

Returns:

the wheelbase length

getWheelBaseWidth

public double getWheelBaseWidth()

Get the wheelbase width.

Returns:

the wheelbase width

getEncoderWheelGearRatio

public double getEncoderWheelGearRatio()

Get the gear ratio between what the encoders measure and what the wheels experience.

Returns:

the gear ratio

getEncoderCPR

public double getEncoderCPR()

Get the number of ticks per revolution for the drivetrain encoders.

Returns:

the number of ticks per revolution

equals

public boolean equals(java.lang.Object o)

Overrides:

equals in class java.lang.Object

hashCode

public int hashCode()

Overrides:

hashCode in class java.lang.Object