Pioneer Robotics Documentation/pioneer/Constants/Follower

Follower

object Follower

Properties

MAX_ANGULAR_ACCELERATION

const val MAX_ANGULAR_ACCELERATION: Double = 10.0

The maximum angular acceleration in rad per second squared.

MAX_ANGULAR_VELOCITY

const val MAX_ANGULAR_VELOCITY: Double = 1.0

The maximum angular velocity in rad per second.

MAX_CENTRIPETAL_ACCELERATION

const val MAX_CENTRIPETAL_ACCELERATION: Double

The maximum centripetal acceleration that the robot can handle in cm/s^2.

MAX_DRIVE_ACCELERATION

const val MAX_DRIVE_ACCELERATION: Double = 50.0

The maximum drive acceleration in cm per second squared.

MAX_DRIVE_VELOCITY

const val MAX_DRIVE_VELOCITY: Double = 100.0

The maximum drive velocity in cm per second.

POSITION_THRESHOLD

const val POSITION_THRESHOLD: Double = 0.5

The threshold in cm to consider the target reached.

ROTATION_THRESHOLD

const val ROTATION_THRESHOLD: Double = 0.05

The threshold in radians to consider the target heading reached.

var THETA_KD: Double

var THETA_KI: Double

var THETA_KP: Double

var X_KD: Double

var X_KI: Double

var X_KP: Double

var Y_KD: Double

var Y_KI: Double

var Y_KP: Double