Package xbot.common.controls.actuators

Class XCANMotorControllerPIDProperties.Builder

java.lang.Object

xbot.common.controls.actuators.XCANMotorControllerPIDProperties.Builder

Enclosing class:

XCANMotorControllerPIDProperties

public static class XCANMotorControllerPIDProperties.Builder
extends Object

Builder class for XCANMotorControllerPIDProperties to facilitate easier construction with optional parameters.

Constructor Summary

Constructors

Constructor	Description
Builder()

Method Summary

Modifier and Type	Method	Description
XCANMotorControllerPIDProperties	build()
XCANMotorControllerPIDProperties.Builder	withD(double d)
XCANMotorControllerPIDProperties.Builder	withGravityFeedForward(double gravityFeedForward)
XCANMotorControllerPIDProperties.Builder	withI(double i)
XCANMotorControllerPIDProperties.Builder	withMaxPowerOutput(double maxPowerOutput)
XCANMotorControllerPIDProperties.Builder	withMinPowerOutput(double minPowerOutput)
XCANMotorControllerPIDProperties.Builder	withP(double p)
XCANMotorControllerPIDProperties.Builder	withStaticFeedForward(double staticFeedForward)
XCANMotorControllerPIDProperties.Builder	withVelocityFeedForward(double velocityFeedForward)

Methods inherited from class java.lang.Object

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

Constructor Details

Builder

public Builder()

Method Details

withP

public XCANMotorControllerPIDProperties.Builder withP(double p)

withI

public XCANMotorControllerPIDProperties.Builder withI(double i)

withD

public XCANMotorControllerPIDProperties.Builder withD(double d)

withStaticFeedForward

public XCANMotorControllerPIDProperties.Builder withStaticFeedForward(double staticFeedForward)

withVelocityFeedForward

public XCANMotorControllerPIDProperties.Builder withVelocityFeedForward(double velocityFeedForward)

withGravityFeedForward

public XCANMotorControllerPIDProperties.Builder withGravityFeedForward(double gravityFeedForward)

withMaxPowerOutput

public XCANMotorControllerPIDProperties.Builder withMaxPowerOutput(double maxPowerOutput)

withMinPowerOutput

public XCANMotorControllerPIDProperties.Builder withMinPowerOutput(double minPowerOutput)

build

public XCANMotorControllerPIDProperties build()