Navigation/com.amarcolini.joos.drive/Drive

Drive

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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constructor()

Properties

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abstract var localizer: Localizer

Localizer used to determine the evolution of poseEstimate.

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var poseEstimate: Pose2d

The robot's current pose estimate.

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val poseVelocity: Pose2d?

Current robot pose velocity (optional)

Functions

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abstract fun setDrivePower(drivePower: Pose2d)

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

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abstract 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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@JvmOverloads
fun setWeightedDrivePower(drivePower: Pose2d, xWeight: Double = 1.0, yWeight: Double = 1.0, headingWeight: Double = 1.0)

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

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fun updatePoseEstimate()

Updates poseEstimate with the most recent positional change.