Navigation/com.amarcolini.joos.drive/Drive

Drive

public abstract class Drive

Abstraction for generic robot drive motion and localization. Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis.

Inheritors

Constructors

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public Drive Drive()

Properties

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private Localizer localizer

Localizer used to determine the evolution of poseEstimate.

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private Pose2d poseEstimate

The robot's current pose estimate.

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private final Pose2d poseVelocity

Current robot pose velocity (optional)

Functions

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public abstract Localizer getLocalizer()

Localizer used to determine the evolution of poseEstimate.

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public final Pose2d getPoseEstimate()
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public final Pose2d getPoseVelocity()
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public abstract Unit setDrivePower(Pose2d drivePower)

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

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public abstract Unit setDriveSignal(DriveSignal driveSignal)

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

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public abstract Unit setLocalizer(Localizer localizer)

Localizer used to determine the evolution of poseEstimate.

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public final Unit setPoseEstimate(Pose2d poseEstimate)
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@JvmOverloads()
public final Unit setWeightedDrivePower(Pose2d drivePower)
@JvmOverloads()
public final Unit setWeightedDrivePower(Pose2d drivePower, Double xWeight)
@JvmOverloads()
public final Unit setWeightedDrivePower(Pose2d drivePower, Double xWeight, Double yWeight)
@JvmOverloads()
public final Unit setWeightedDrivePower(Pose2d drivePower, Double xWeight, Double yWeight, Double headingWeight)

Scales drivePower so that the commanded powers are all within [-1.0, 1.0].

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public final Unit updatePoseEstimate()

Updates poseEstimate with the most recent positional change.