Navigation/com.amarcolini.joos.drive/AbstractMecanumDrive

AbstractMecanumDrive

abstract class AbstractMecanumDrive @JvmOverloads constructor(val trackWidth: Double, val wheelBase: Double = trackWidth, val lateralMultiplier: Double = 1.0, val externalHeadingSensor: AngleSensor? = null) : 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

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@JvmOverloads
constructor(trackWidth: Double, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0, externalHeadingSensor: AngleSensor? = null)

Properties

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protected val externalHeadingSensor: AngleSensor? = null
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protected val lateralMultiplier: Double = 1.0
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open override var localizer: Localizer

Localizer used to determine the evolution of poseEstimate.

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protected val trackWidth: Double
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protected val wheelBase: Double

Functions

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abstract fun getWheelPositions(): List<Double>

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

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open fun getWheelVelocities(): List<Double>?

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

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open override fun setDrivePower(drivePower: Pose2d)

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

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open override fun 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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abstract fun setMotorPowers(frontLeft: Double, backLeft: Double, backRight: Double, frontRight: Double)

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

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abstract fun setWheelVelocities(velocities: List<Double>, accelerations: List<Double>)

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