Navigation/com.amarcolini.joos.drive/AbstractTankDrive

AbstractTankDrive

abstract class AbstractTankDrive(val trackWidth: Double, val externalHeadingSensor: AngleSensor? = null) : 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

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

Properties

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protected val externalHeadingSensor: AngleSensor? = null
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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

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(left: Double, right: 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.