Navigation/com.amarcolini.joos.drive/AbstractMecanumDrive

AbstractMecanumDrive

public abstract class AbstractMecanumDrive extends Drive

This class provides the basic functionality of a mecanum drive using MecanumKinematics.

Parameters

trackWidth

Lateral distance between pairs of wheels on different sides of the robot.

wheelBase

Distance between pairs of wheels on the same side of the robot.

lateralMultiplier

Lateral multiplier.

Constructors

AbstractMecanumDrive

@JvmOverloads()

public AbstractMecanumDrive AbstractMecanumDrive(Double trackWidth, Double wheelBase, Double lateralMultiplier, AngleSensor externalHeadingSensor)

@JvmOverloads()

public AbstractMecanumDrive AbstractMecanumDrive(Double trackWidth, Double wheelBase, Double lateralMultiplier)

@JvmOverloads()

public AbstractMecanumDrive AbstractMecanumDrive(Double trackWidth, Double wheelBase)

@JvmOverloads()

public AbstractMecanumDrive AbstractMecanumDrive(Double trackWidth)

Properties

externalHeadingSensor

private final AngleSensor externalHeadingSensor

lateralMultiplier

private final Double lateralMultiplier

localizer

private Localizer localizer

Localizer used to determine the evolution of poseEstimate.

trackWidth

private final Double trackWidth

wheelBase

private final Double wheelBase

Functions

getExternalHeadingSensor

protected final AngleSensor getExternalHeadingSensor()

getLateralMultiplier

protected final Double getLateralMultiplier()

getLocalizer

public Localizer getLocalizer()

Localizer used to determine the evolution of poseEstimate.

getTrackWidth

protected final Double getTrackWidth()

getWheelBase

protected final Double getWheelBase()

getWheelPositions

public abstract List<Double> getWheelPositions()

Returns the positions of the wheels in linear distance units. Positions should exactly match the ordering in setMotorPowers.

getWheelVelocities

public List<Double> getWheelVelocities()

Returns the velocities of the wheels in linear distance units. Positions should exactly match the ordering in setMotorPowers.

setDrivePower

public Unit setDrivePower(Pose2d drivePower)

Sets the current commanded drive state of the robot. Feedforward is not applied to drivePower.

setDriveSignal

public Unit setDriveSignal(DriveSignal driveSignal)

Sets the current commanded drive state of the robot. Feedforward is applied to driveSignal before it reaches the motors.

setLocalizer

public Unit setLocalizer(Localizer localizer)

Localizer used to determine the evolution of poseEstimate.

setMotorPowers

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

Sets the following motor powers (normalized voltages). All arguments are on the interval [-1.0, 1.0].

setWheelVelocities

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

Sets the wheel velocities (and accelerations) of each motor, in distance units per second. Velocities and accelerations match the ordering in setMotorPowers.