light::RamseteConfig Struct Reference

RAMSETE controller and chassis-geometry config. More...

#include <ramsete.hpp>

Public Attributes
float	b = 2.0f
	Aggressiveness — larger = more correction.
float	zeta = 0.7f
	Damping, [0, 1]; 0.7 is classic.
float	trackWidthIn = 12.0f
	Track width, inches.
float	wheelDiamIn = 3.25f
	Wheel diameter, inches.
float	gearRatio = 0.75f
	wheel_rpm / motor_rpm (0.75 = 36:48 blue).

Detailed Description

RAMSETE controller and chassis-geometry config.

Definition at line 35 of file ramsete.hpp.

Member Data Documentation

b

float light::RamseteConfig::b = 2.0f

Aggressiveness — larger = more correction.

Definition at line 36 of file ramsete.hpp.

gearRatio

float light::RamseteConfig::gearRatio = 0.75f

wheel_rpm / motor_rpm (0.75 = 36:48 blue).

Definition at line 40 of file ramsete.hpp.

trackWidthIn

float light::RamseteConfig::trackWidthIn = 12.0f

Track width, inches.

Definition at line 38 of file ramsete.hpp.

wheelDiamIn

float light::RamseteConfig::wheelDiamIn = 3.25f

Wheel diameter, inches.

Definition at line 39 of file ramsete.hpp.

zeta

float light::RamseteConfig::zeta = 0.7f

Damping, [0, 1]; 0.7 is classic.

Definition at line 37 of file ramsete.hpp.

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

• include/LightLib/drive/ramsete.hpp