Navigation/com.amarcolini.joos.drive/AbstractTankDrive

AbstractTankDrive

public abstract class AbstractTankDrive extends Drive

This class provides the basic functionality of a tank/differential drive using TankKinematics.

Parameters

trackWidth

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

Constructors

AbstractTankDrive

public AbstractTankDrive AbstractTankDrive(Double trackWidth, AngleSensor externalHeadingSensor)

Properties

externalHeadingSensor

private final AngleSensor externalHeadingSensor

localizer

private Localizer localizer

Localizer used to determine the evolution of poseEstimate.

trackWidth

private final Double trackWidth

Functions

getExternalHeadingSensor

protected final AngleSensor getExternalHeadingSensor()

getLocalizer

public Localizer getLocalizer()

Localizer used to determine the evolution of poseEstimate.

getTrackWidth

protected final Double getTrackWidth()

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 left, Double right)

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.