AbstractSwerveDrive

abstract class AbstractSwerveDrive @JvmOverloads constructor(val modules: List<SwerveModule>, val modulePositions: List<Vector2d>, val externalHeadingSensor: AngleSensor? = null) : Drive

This class provides the basic functionality of a swerve drive using SwerveKinematics.

modules

the modules of the swerve drive, starting with the front left and moving counter-clockwise.

modulePositions

the positions of all the modules relative to the center of rotation of the robot

Constructors

constructor(frontLeft: SwerveModule, backLeft: SwerveModule, backRight: SwerveModule, frontRight: SwerveModule, trackWidth: Double, wheelBase: Double = trackWidth, externalHeadingSensor: AngleSensor? = null)

constructor(left: SwerveModule, right: SwerveModule, trackWidth: Double, externalHeadingSensor: AngleSensor? = null)

constructor(modules: List<SwerveModule>, modulePositions: List<Vector2d>, externalHeadingSensor: AngleSensor? = null)

open override var localizer: Localizer

Localizer used to determine the evolution of poseEstimate.

open override fun setDrivePower(drivePower: Pose2d)

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

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.