Configuration for differential kinematics, ball model, and local mount geometry. More...

Public Attributes
DoubleDifferentialMechanism::Config	differential {}
	Double-differential (yaw/pitch) leg kinematics.
BallPhysicsSim3D::Config	ball_config {}
	Ball physics environment and simulation behavior.
BallPhysicsSim3D::BallProperties	ball_properties {}
	Ball mass, radius, drag, and impact properties.
Vector3	turret_mount_position_m {}
	Position of the differential pivot in world frame (meters).
Vector3	muzzle_offset_local_m {0.35, 0.0, 0.18}
	Muzzle origin offset in local turret frame (meters, before yaw/pitch rotation).
Vector3	intake_offset_local_m {0.15, 0.0, -0.06}
	Intake center offset from the turret rotation origin in local turret frame (meters).
double	intake_capture_radius_m {0.22}
	Radius around intake center for successful ball pickup (meters).
Vector3	carry_offset_local_m {0.05, 0.0, -0.02}
	Offset from intake to carried ball rest position in local frame (meters).

Detailed Description

Configuration for differential kinematics, ball model, and local mount geometry.

Member Data Documentation

BallPhysicsSim3D::Config frcsim::TurretFlywheelSim::Config::ball_config {}

Ball physics environment and simulation behavior.

BallPhysicsSim3D::BallProperties frcsim::TurretFlywheelSim::Config::ball_properties {}

Ball mass, radius, drag, and impact properties.

Vector3 frcsim::TurretFlywheelSim::Config::carry_offset_local_m {0.05, 0.0, -0.02}

Offset from intake to carried ball rest position in local frame (meters).

DoubleDifferentialMechanism::Config frcsim::TurretFlywheelSim::Config::differential {}

Double-differential (yaw/pitch) leg kinematics.

double frcsim::TurretFlywheelSim::Config::intake_capture_radius_m {0.22}

Radius around intake center for successful ball pickup (meters).

Vector3 frcsim::TurretFlywheelSim::Config::intake_offset_local_m {0.15, 0.0, -0.06}

Intake center offset from the turret rotation origin in local turret frame (meters).

Vector3 frcsim::TurretFlywheelSim::Config::muzzle_offset_local_m {0.35, 0.0, 0.18}

Muzzle origin offset in local turret frame (meters, before yaw/pitch rotation).

Vector3 frcsim::TurretFlywheelSim::Config::turret_mount_position_m {}

Position of the differential pivot in world frame (meters).

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