Command/com.amarcolini.joos.hardware.drive/MecanumDrive

MecanumDrive

public class MecanumDrive extends AbstractMecanumDrive implements DriveComponent

A Component implementation of a mecanum drive.

Constructors

MecanumDrive

@JvmOverloads()

public MecanumDrive MecanumDrive(MotorGroup motors, MecanumConstraints constraints, AngleSensor externalHeadingSensor)

Constructs a mecanum drive using constraints.

@JvmOverloads()

public MecanumDrive MecanumDrive(MotorGroup motors, MecanumConstraints constraints)

Constructs a mecanum drive using constraints.

@JvmOverloads()

public MecanumDrive MecanumDrive(Motor frontLeft, Motor backLeft, Motor backRight, Motor frontRight, AngleSensor externalHeadingSensor, MecanumConstraints constraints)

Constructs a mecanum drive from its individual motors.

@JvmOverloads()

public MecanumDrive MecanumDrive(Motor frontLeft, Motor backLeft, Motor backRight, Motor frontRight, AngleSensor externalHeadingSensor)

Constructs a mecanum drive from its individual motors.

@JvmOverloads()

public MecanumDrive MecanumDrive(Motor frontLeft, Motor backLeft, Motor backRight, Motor frontRight)

Constructs a mecanum drive from its individual motors.

@JvmOverloads()

public MecanumDrive MecanumDrive(MotorGroup motors, Double trackWidth, Double wheelBase, Double lateralMultiplier, AngleSensor externalHeadingSensor)

@JvmOverloads()

public MecanumDrive MecanumDrive(MotorGroup motors, Double trackWidth, Double wheelBase, Double lateralMultiplier)

@JvmOverloads()

public MecanumDrive MecanumDrive(MotorGroup motors, Double trackWidth, Double wheelBase)

@JvmOverloads()

public MecanumDrive MecanumDrive(MotorGroup motors, Double trackWidth)

@JvmOverloads()

public MecanumDrive MecanumDrive(MotorGroup motors)

Properties

motors

@JvmField()

protected final MotorGroup motors

All the motors in this drive.

Functions

getWheelPositions

public List<Double> getWheelPositions()

getWheelVelocities

public List<Double> getWheelVelocities()

setMotorPowers

public Unit setMotorPowers(Double frontLeft, Double backLeft, Double backRight, Double frontRight)

setRunMode

public Unit setRunMode(Motor.RunMode runMode)

setWheelVelocities

public Unit setWheelVelocities(List<Double> velocities, List<Double> accelerations)

setZeroPowerBehavior

public Unit setZeroPowerBehavior(Motor.ZeroPowerBehavior zeroPowerBehavior)

update

public Unit update()

This method is called repeatedly by the CommandScheduler.