#include <chassisControllerBuilder.hpp>

Public Member Functions
	ChassisControllerBuilder (const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	A builder that creates ChassisControllers.

ChassisControllerBuilder &	withMotors (const Motor &ileft, const Motor &iright)
	Sets the motors using a skid-steer layout.

ChassisControllerBuilder &	withMotors (const MotorGroup &ileft, const MotorGroup &iright)
	Sets the motors using a skid-steer layout.

ChassisControllerBuilder &	withMotors (const std::shared_ptr< AbstractMotor > &ileft, const std::shared_ptr< AbstractMotor > &iright)
	Sets the motors using a skid-steer layout.

ChassisControllerBuilder &	withMotors (const Motor &itopLeft, const Motor &itopRight, const Motor &ibottomRight, const Motor &ibottomLeft)
	Sets the motors using an x-drive layout.

ChassisControllerBuilder &	withMotors (const MotorGroup &itopLeft, const MotorGroup &itopRight, const MotorGroup &ibottomRight, const MotorGroup &ibottomLeft)
	Sets the motors using an x-drive layout.

ChassisControllerBuilder &	withMotors (const std::shared_ptr< AbstractMotor > &itopLeft, const std::shared_ptr< AbstractMotor > &itopRight, const std::shared_ptr< AbstractMotor > &ibottomRight, const std::shared_ptr< AbstractMotor > &ibottomLeft)
	Sets the motors using an x-drive layout.

ChassisControllerBuilder &	withMotors (const Motor &ileft, const Motor &iright, const Motor &imiddle)
	Sets the motors using an h-drive layout.

ChassisControllerBuilder &	withMotors (const MotorGroup &ileft, const MotorGroup &iright, const MotorGroup &imiddle)
	Sets the motors using an h-drive layout.

ChassisControllerBuilder &	withMotors (const MotorGroup &ileft, const MotorGroup &iright, const Motor &imiddle)
	Sets the motors using an h-drive layout.

ChassisControllerBuilder &	withMotors (const std::shared_ptr< AbstractMotor > &ileft, const std::shared_ptr< AbstractMotor > &iright, const std::shared_ptr< AbstractMotor > &imiddle)
	Sets the motors using an h-drive layout.

ChassisControllerBuilder &	withSensors (const ADIEncoder &ileft, const ADIEncoder &iright)
	Sets the sensors.

ChassisControllerBuilder &	withSensors (const ADIEncoder &ileft, const ADIEncoder &iright, const ADIEncoder &imiddle)
	Sets the sensors.

ChassisControllerBuilder &	withSensors (const RotationSensor &ileft, const RotationSensor &iright)
	Sets the sensors.

ChassisControllerBuilder &	withSensors (const RotationSensor &ileft, const RotationSensor &iright, const RotationSensor &imiddle)
	Sets the sensors.

ChassisControllerBuilder &	withSensors (const IntegratedEncoder &ileft, const IntegratedEncoder &iright)
	Sets the sensors.

ChassisControllerBuilder &	withSensors (const IntegratedEncoder &ileft, const IntegratedEncoder &iright, const ADIEncoder &imiddle)
	Sets the sensors.

ChassisControllerBuilder &	withSensors (const std::shared_ptr< ContinuousRotarySensor > &ileft, const std::shared_ptr< ContinuousRotarySensor > &iright)
	Sets the sensors.

ChassisControllerBuilder &	withSensors (const std::shared_ptr< ContinuousRotarySensor > &ileft, const std::shared_ptr< ContinuousRotarySensor > &iright, const std::shared_ptr< ContinuousRotarySensor > &imiddle)
	Sets the sensors.

ChassisControllerBuilder &	withGains (const IterativePosPIDController::Gains &idistanceGains, const IterativePosPIDController::Gains &iturnGains)
	Sets the PID controller gains, causing the builder to generate a ChassisControllerPID.

ChassisControllerBuilder &	withGains (const IterativePosPIDController::Gains &idistanceGains, const IterativePosPIDController::Gains &iturnGains, const IterativePosPIDController::Gains &iangleGains)
	Sets the PID controller gains, causing the builder to generate a ChassisControllerPID.

ChassisControllerBuilder &	withOdometry (const StateMode &imode=StateMode::FRAME_TRANSFORMATION, const QLength &imoveThreshold=0_mm, const QAngle &iturnThreshold=0_deg)
	Sets the odometry information, causing the builder to generate an Odometry variant.

ChassisControllerBuilder &	withOdometry (const ChassisScales &iodomScales, const StateMode &imode=StateMode::FRAME_TRANSFORMATION, const QLength &imoveThreshold=0_mm, const QAngle &iturnThreshold=0_deg)
	Sets the odometry information, causing the builder to generate an Odometry variant.

ChassisControllerBuilder &	withOdometry (std::shared_ptr< Odometry > iodometry, const StateMode &imode=StateMode::FRAME_TRANSFORMATION, const QLength &imoveThreshold=0_mm, const QAngle &iturnThreshold=0_deg)
	Sets the odometry information, causing the builder to generate an Odometry variant.

ChassisControllerBuilder &	withDerivativeFilters (std::unique_ptr< Filter > idistanceFilter, std::unique_ptr< Filter > iturnFilter=std::make_unique< PassthroughFilter >(), std::unique_ptr< Filter > iangleFilter=std::make_unique< PassthroughFilter >())
	Sets the derivative filters.

ChassisControllerBuilder &	withDimensions (const AbstractMotor::GearsetRatioPair &igearset, const ChassisScales &iscales)
	Sets the chassis dimensions.

ChassisControllerBuilder &	withMaxVelocity (double imaxVelocity)
	Sets the max velocity.

ChassisControllerBuilder &	withMaxVoltage (double imaxVoltage)
	Sets the max voltage.

ChassisControllerBuilder &	withChassisControllerTimeUtilFactory (const TimeUtilFactory &itimeUtilFactory)
	Sets the TimeUtilFactory used when building a ChassisController.

ChassisControllerBuilder &	withClosedLoopControllerTimeUtilFactory (const TimeUtilFactory &itimeUtilFactory)
	Sets the TimeUtilFactory used when building a ClosedLoopController.

ChassisControllerBuilder &	withClosedLoopControllerTimeUtil (double iatTargetError=50, double iatTargetDerivative=5, const QTime &iatTargetTime=250_ms)
	Creates a new ConfigurableTimeUtilFactory with the given parameters.

ChassisControllerBuilder &	withOdometryTimeUtilFactory (const TimeUtilFactory &itimeUtilFactory)
	Sets the TimeUtilFactory used when building an Odometry.

ChassisControllerBuilder &	withLogger (const std::shared_ptr< Logger > &ilogger)
	Sets the logger used for the ChassisController and ClosedLoopControllers.

ChassisControllerBuilder &	parentedToCurrentTask ()
	Parents the internal tasks started by this builder to the current task, meaning they will be deleted once the current task is deleted.

ChassisControllerBuilder &	notParentedToCurrentTask ()
	Prevents parenting the internal tasks started by this builder to the current task, meaning they will not be deleted once the current task is deleted.

std::shared_ptr< ChassisController >	build ()
	Builds the ChassisController.

std::shared_ptr< OdomChassisController >	buildOdometry ()
	Builds the OdomChassisController.

Detailed Description

Definition at line 24 of file chassisControllerBuilder.hpp.

Constructor & Destructor Documentation

◆ ChassisControllerBuilder()

okapi::ChassisControllerBuilder::ChassisControllerBuilder ( const std::shared_ptr< Logger > & ilogger = Logger::getDefaultLogger() )

explicit

A builder that creates ChassisControllers.

Use this to create your ChassisController.

Parameters

ilogger The logger this instance will log to.

Member Function Documentation

◆ build()

std::shared_ptr< ChassisController > okapi::ChassisControllerBuilder::build ( )

Builds the ChassisController.

Throws a std::runtime_exception if no motors were set or if no dimensions were set.

Returns: A fully built ChassisController.

◆ buildOdometry()

std::shared_ptr< OdomChassisController > okapi::ChassisControllerBuilder::buildOdometry ( )

Builds the OdomChassisController.

Throws a std::runtime_exception if no motors were set, if no dimensions were set, or if no odometry information was passed.

Returns: A fully built OdomChassisController.

◆ notParentedToCurrentTask()

ChassisControllerBuilder & okapi::ChassisControllerBuilder::notParentedToCurrentTask ( )

Prevents parenting the internal tasks started by this builder to the current task, meaning they will not be deleted once the current task is deleted.

This can cause runaway tasks, but is sometimes the desired behavior (e.x., if you want to use this builder once in autonomous and then again in opcontrol).

Read more about this in the [builders and tasks tutorial] (docs/tutorials/concepts/builders-and-tasks.md).

Returns: An ongoing builder.

◆ parentedToCurrentTask()

ChassisControllerBuilder & okapi::ChassisControllerBuilder::parentedToCurrentTask ( )

Parents the internal tasks started by this builder to the current task, meaning they will be deleted once the current task is deleted.

The initialize and competition_initialize tasks are never parented to. This is the default behavior.

Read more about this in the [builders and tasks tutorial] (docs/tutorials/concepts/builders-and-tasks.md).

Returns: An ongoing builder.

◆ withChassisControllerTimeUtilFactory()

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withChassisControllerTimeUtilFactory ( const TimeUtilFactory & itimeUtilFactory )

Sets the TimeUtilFactory used when building a ChassisController.

This instance will be given to the ChassisController (not to controllers it uses). The default is the static TimeUtilFactory.

Parameters

itimeUtilFactory The TimeUtilFactory.

Returns: An ongoing builder.

◆ withClosedLoopControllerTimeUtil()

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withClosedLoopControllerTimeUtil	(	double	iatTargetError = `50`,
		double	iatTargetDerivative = `5`,
		const QTime &	iatTargetTime = `250_ms`
	)

Creates a new ConfigurableTimeUtilFactory with the given parameters.

Given to any ClosedLoopController instances.

Parameters

iatTargetError	The minimum error to be considered settled.
iatTargetDerivative	The minimum error derivative to be considered settled.
iatTargetTime	The minimum time within atTargetError to be considered settled.

Returns: An ongoing builder.

◆ withClosedLoopControllerTimeUtilFactory()

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withClosedLoopControllerTimeUtilFactory ( const TimeUtilFactory & itimeUtilFactory )

Sets the TimeUtilFactory used when building a ClosedLoopController.

This instance will be given to any ClosedLoopController instances. The default is the static TimeUtilFactory.

Parameters

itimeUtilFactory The TimeUtilFactory.

Returns: An ongoing builder.

◆ withDerivativeFilters()

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withDerivativeFilters	(	std::unique_ptr< Filter >	idistanceFilter,
		std::unique_ptr< Filter >	iturnFilter = `std::make_unique< PassthroughFilter >()`,
		std::unique_ptr< Filter >	iangleFilter = `std::make_unique< PassthroughFilter >()`
	)

Sets the derivative filters.

Uses a PassthroughFilter by default.

Parameters

idistanceFilter	The distance controller's filter.
iturnFilter	The turn controller's filter.
iangleFilter	The angle controller's filter.

Returns: An ongoing builder.

◆ withDimensions()

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withDimensions	(	const AbstractMotor::GearsetRatioPair &	igearset,
		const ChassisScales &	iscales
	)

Sets the chassis dimensions.

Parameters

igearset	The gearset in the drive motors.
iscales	The ChassisScales for the base.

Returns: An ongoing builder.

◆ withGains() [1/2]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withGains	(	const IterativePosPIDController::Gains &	idistanceGains,
		const IterativePosPIDController::Gains &	iturnGains
	)

Sets the PID controller gains, causing the builder to generate a ChassisControllerPID.

Uses the turn controller's gains for the angle controller's gains.

Parameters

idistanceGains	The distance controller's gains.
iturnGains	The turn controller's gains.

Returns: An ongoing builder.

◆ withGains() [2/2]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withGains	(	const IterativePosPIDController::Gains &	idistanceGains,
		const IterativePosPIDController::Gains &	iturnGains,
		const IterativePosPIDController::Gains &	iangleGains
	)

Sets the PID controller gains, causing the builder to generate a ChassisControllerPID.

Parameters

idistanceGains	The distance controller's gains.
iturnGains	The turn controller's gains.
iangleGains	The angle controller's gains.

Returns: An ongoing builder.

◆ withLogger()

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withLogger ( const std::shared_ptr< Logger > & ilogger )

Sets the logger used for the ChassisController and ClosedLoopControllers.

Parameters

ilogger The logger.

Returns: An ongoing builder.

◆ withMaxVelocity()

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMaxVelocity ( double imaxVelocity )

Sets the max velocity.

Overrides the max velocity of the gearset.

Parameters

imaxVelocity The max velocity.

Returns: An ongoing builder.

◆ withMaxVoltage()

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMaxVoltage ( double imaxVoltage )

Sets the max voltage.

The default is 12000.

Parameters

imaxVoltage The max voltage.

Returns: An ongoing builder.

◆ withMotors() [1/10]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMotors	(	const Motor &	ileft,
		const Motor &	iright
	)

Sets the motors using a skid-steer layout.

Parameters

ileft	The left motor.
iright	The right motor.

Returns: An ongoing builder.

◆ withMotors() [2/10]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMotors	(	const Motor &	ileft,
		const Motor &	iright,
		const Motor &	imiddle
	)

Sets the motors using an h-drive layout.

Parameters

ileft	The left motor.
iright	The right motor.
imiddle	The middle motor.

Returns: An ongoing builder.

◆ withMotors() [3/10]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMotors	(	const Motor &	itopLeft,
		const Motor &	itopRight,
		const Motor &	ibottomRight,
		const Motor &	ibottomLeft
	)

Sets the motors using an x-drive layout.

Parameters

itopLeft	The top left motor.
itopRight	The top right motor.
ibottomRight	The bottom right motor.
ibottomLeft	The bottom left motor.

Returns: An ongoing builder.

◆ withMotors() [4/10]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMotors	(	const MotorGroup &	ileft,
		const MotorGroup &	iright
	)

Sets the motors using a skid-steer layout.

Parameters

ileft	The left motor.
iright	The right motor.

Returns: An ongoing builder.

◆ withMotors() [5/10]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMotors	(	const MotorGroup &	ileft,
		const MotorGroup &	iright,
		const Motor &	imiddle
	)

Sets the motors using an h-drive layout.

Parameters

ileft	The left motor.
iright	The right motor.
imiddle	The middle motor.

Returns: An ongoing builder.

◆ withMotors() [6/10]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMotors	(	const MotorGroup &	ileft,
		const MotorGroup &	iright,
		const MotorGroup &	imiddle
	)

Sets the motors using an h-drive layout.

Parameters

ileft	The left motor.
iright	The right motor.
imiddle	The middle motor.

Returns: An ongoing builder.

◆ withMotors() [7/10]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMotors	(	const MotorGroup &	itopLeft,
		const MotorGroup &	itopRight,
		const MotorGroup &	ibottomRight,
		const MotorGroup &	ibottomLeft
	)

Sets the motors using an x-drive layout.

Parameters

itopLeft	The top left motor.
itopRight	The top right motor.
ibottomRight	The bottom right motor.
ibottomLeft	The bottom left motor.

Returns: An ongoing builder.

◆ withMotors() [8/10]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMotors	(	const std::shared_ptr< AbstractMotor > &	ileft,
		const std::shared_ptr< AbstractMotor > &	iright
	)

Sets the motors using a skid-steer layout.

Parameters

ileft	The left motor.
iright	The right motor.

Returns: An ongoing builder.

◆ withMotors() [9/10]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMotors	(	const std::shared_ptr< AbstractMotor > &	ileft,
		const std::shared_ptr< AbstractMotor > &	iright,
		const std::shared_ptr< AbstractMotor > &	imiddle
	)

Sets the motors using an h-drive layout.

Parameters

ileft	The left motor.
iright	The right motor.
imiddle	The middle motor.

Returns: An ongoing builder.

◆ withMotors() [10/10]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withMotors	(	const std::shared_ptr< AbstractMotor > &	itopLeft,
		const std::shared_ptr< AbstractMotor > &	itopRight,
		const std::shared_ptr< AbstractMotor > &	ibottomRight,
		const std::shared_ptr< AbstractMotor > &	ibottomLeft
	)

Sets the motors using an x-drive layout.

Parameters

itopLeft	The top left motor.
itopRight	The top right motor.
ibottomRight	The bottom right motor.
ibottomLeft	The bottom left motor.

Returns: An ongoing builder.

◆ withOdometry() [1/3]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withOdometry	(	const ChassisScales &	iodomScales,
		const StateMode &	imode = `StateMode::FRAME_TRANSFORMATION`,
		const QLength &	imoveThreshold = `0_mm`,
		const QAngle &	iturnThreshold = `0_deg`
	)

Sets the odometry information, causing the builder to generate an Odometry variant.

Parameters

iodomScales	The ChassisScales used just for odometry (if they are different than those for the drive).
imode	The new default StateMode used to interpret target points and query the Odometry state.
imoveThreshold	The minimum length movement.
iturnThreshold	The minimum angle turn.

Returns: An ongoing builder.

◆ withOdometry() [2/3]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withOdometry	(	const StateMode &	imode = `StateMode::FRAME_TRANSFORMATION`,
		const QLength &	imoveThreshold = `0_mm`,
		const QAngle &	iturnThreshold = `0_deg`
	)

Sets the odometry information, causing the builder to generate an Odometry variant.

Parameters

imode	The new default StateMode used to interpret target points and query the Odometry state.
imoveThreshold	The minimum length movement.
iturnThreshold	The minimum angle turn.

Returns: An ongoing builder.

◆ withOdometry() [3/3]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withOdometry	(	std::shared_ptr< Odometry >	iodometry,
		const StateMode &	imode = `StateMode::FRAME_TRANSFORMATION`,
		const QLength &	imoveThreshold = `0_mm`,
		const QAngle &	iturnThreshold = `0_deg`
	)

Sets the odometry information, causing the builder to generate an Odometry variant.

Parameters

iodometry	The odometry object.
imode	The new default StateMode used to interpret target points and query the Odometry state.
imoveThreshold	The minimum length movement.
iturnThreshold	The minimum angle turn.

Returns: An ongoing builder.

◆ withOdometryTimeUtilFactory()

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withOdometryTimeUtilFactory ( const TimeUtilFactory & itimeUtilFactory )

Sets the TimeUtilFactory used when building an Odometry.

The default is the static TimeUtilFactory.

Parameters

itimeUtilFactory The TimeUtilFactory.

Returns: An ongoing builder.

◆ withSensors() [1/8]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withSensors	(	const ADIEncoder &	ileft,
		const ADIEncoder &	iright
	)

Sets the sensors.

The default sensors are the motor's integrated encoders.

Parameters

ileft	The left side sensor.
iright	The right side sensor.

Returns: An ongoing builder.

◆ withSensors() [2/8]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withSensors	(	const ADIEncoder &	ileft,
		const ADIEncoder &	iright,
		const ADIEncoder &	imiddle
	)

Sets the sensors.

The default sensors are the motor's integrated encoders.

Parameters

ileft	The left side sensor.
iright	The right side sensor.
imiddle	The middle sensor.

Returns: An ongoing builder.

◆ withSensors() [3/8]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withSensors	(	const IntegratedEncoder &	ileft,
		const IntegratedEncoder &	iright
	)

Sets the sensors.

The default sensors are the motor's integrated encoders.

Parameters

ileft	The left side sensor.
iright	The right side sensor.

Returns: An ongoing builder.

◆ withSensors() [4/8]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withSensors	(	const IntegratedEncoder &	ileft,
		const IntegratedEncoder &	iright,
		const ADIEncoder &	imiddle
	)

Sets the sensors.

The default sensors are the motor's integrated encoders.

Parameters

ileft	The left side sensor.
iright	The right side sensor.
imiddle	The middle sensor.

Returns: An ongoing builder.

◆ withSensors() [5/8]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withSensors	(	const RotationSensor &	ileft,
		const RotationSensor &	iright
	)

Sets the sensors.

The default sensors are the motor's integrated encoders.

Parameters

ileft	The left side sensor.
iright	The right side sensor.

Returns: An ongoing builder.

◆ withSensors() [6/8]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withSensors	(	const RotationSensor &	ileft,
		const RotationSensor &	iright,
		const RotationSensor &	imiddle
	)

Sets the sensors.

The default sensors are the motor's integrated encoders.

Parameters

ileft	The left side sensor.
iright	The right side sensor.
imiddle	The middle sensor.

Returns: An ongoing builder.

◆ withSensors() [7/8]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withSensors	(	const std::shared_ptr< ContinuousRotarySensor > &	ileft,
		const std::shared_ptr< ContinuousRotarySensor > &	iright
	)

Sets the sensors.

The default sensors are the motor's integrated encoders.

Parameters

ileft	The left side sensor.
iright	The right side sensor.

Returns: An ongoing builder.

◆ withSensors() [8/8]

ChassisControllerBuilder & okapi::ChassisControllerBuilder::withSensors	(	const std::shared_ptr< ContinuousRotarySensor > &	ileft,
		const std::shared_ptr< ContinuousRotarySensor > &	iright,
		const std::shared_ptr< ContinuousRotarySensor > &	imiddle
	)

Sets the sensors.

The default sensors are the motor's integrated encoders.

Parameters

ileft	The left side sensor.
iright	The right side sensor.
imiddle	The middle sensor.

Returns: An ongoing builder.

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

include/okapi/impl/chassis/controller/chassisControllerBuilder.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ChassisControllerBuilder()

Member Function Documentation

◆ build()

◆ buildOdometry()

◆ notParentedToCurrentTask()

◆ parentedToCurrentTask()

◆ withChassisControllerTimeUtilFactory()

◆ withClosedLoopControllerTimeUtil()

◆ withClosedLoopControllerTimeUtilFactory()

◆ withDerivativeFilters()

◆ withDimensions()

◆ withGains() [1/2]

◆ withGains() [2/2]

◆ withLogger()

◆ withMaxVelocity()

◆ withMaxVoltage()

◆ withMotors() [1/10]

◆ withMotors() [2/10]

◆ withMotors() [3/10]

◆ withMotors() [4/10]

◆ withMotors() [5/10]

◆ withMotors() [6/10]

◆ withMotors() [7/10]

◆ withMotors() [8/10]

◆ withMotors() [9/10]

◆ withMotors() [10/10]

◆ withOdometry() [1/3]

◆ withOdometry() [2/3]

◆ withOdometry() [3/3]

◆ withOdometryTimeUtilFactory()

◆ withSensors() [1/8]

◆ withSensors() [2/8]

◆ withSensors() [3/8]

◆ withSensors() [4/8]

◆ withSensors() [5/8]

◆ withSensors() [6/8]

◆ withSensors() [7/8]

◆ withSensors() [8/8]