ftc/gay.zharel.hermes.ftc/MecanumDrive

MecanumDrive

class MecanumDrive @JvmOverloads constructor(hardwareMap: HardwareMap, pose: Pose2d = Pose2d.zero) : Drive

Constructors

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@JvmOverloads
constructor(hardwareMap: HardwareMap, pose: Pose2d = Pose2d.zero)

Types

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object Params

Properties

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open override val controller: HolonomicController
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open override val defaultAccelConstraint: AccelConstraint
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open override val defaultTurnConstraints: TurnConstraints
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open override val defaultVelConstraint: VelConstraint
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val feedforward: MotorFeedforward
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open override val followerParams: FollowerParams
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val kinematics: MecanumKinematics
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val leftBack: DcMotorEx
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val leftFront: DcMotorEx
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open override val localizer: Localizer
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val rightBack: DcMotorEx
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val rightFront: DcMotorEx
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val voltageSensor: VoltageSensor

Functions

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fun actionBuilder(): TrajectoryActionBuilder
fun actionBuilder(beginPose: Pose2d): TrajectoryActionBuilder
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open fun createProfile(path: PosePath): DisplacementProfile

Creates and returns a time-optimal profile for the given path.

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open fun createTrajectory(path: PosePath): DisplacementTrajectory

Creates and returns a time-optimal profile for the given path.

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fun Drive.drawPoseHistory(canvas: Canvas)
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fun Drive.lineTo(target: Vector2d): GenerableTrajectory
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open fun setDrivePowers(powers: PoseVelocity2d)
open override fun setDrivePowers(powers: PoseVelocity2dDual<Time>)
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open fun setDrivePowersWithFF(powers: PoseVelocity2d)
open override fun setDrivePowersWithFF(powers: PoseVelocity2dDual<Time>)
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fun Drive.splineTo(target: Vector2d, tangent: Rotation2d): DisplacementTrajectory
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open override fun trajectoryBuilder(): TrajectoryBuilder
open override fun trajectoryBuilder(beginPose: Pose2d): TrajectoryBuilder
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open override fun updatePoseEstimate(): PoseVelocity2d