#include <robot_specs.h>

Public Attributes
double	robot_radius
	if you were to draw a circle with this radius, the robot would be entirely contained within it

double	odom_wheel_diam
	the diameter of the wheels used for

double	odom_gear_ratio
	the ratio of the odometry wheel to the encoder reading odometry data

double	dist_between_wheels
	the distance between centers of the central drive wheels

double	drive_correction_cutoff

Feedback *	drive_feedback
	the default feedback for autonomous driving

Feedback *	turn_feedback
	the defualt feedback for autonomous turning

PID::pid_config_t	correction_pid
	the pid controller to keep the robot driving in as straight a line as possible

Detailed Description

Main robot characterization struct. This will be passed to all the major subsystems that require info about the robot. All distance measurements are in inches.

Member Data Documentation

◆ drive_correction_cutoff

double robot_specs_t::drive_correction_cutoff

the distance at which to stop trying to turn towards the target. If we are less than this value, we can continue driving forward to minimize our distance but will not try to spin around to point directly at the target

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

robot_specs.h

Public Attributes

Detailed Description

Member Data Documentation

◆ drive_correction_cutoff