Drive

interface Drive

Properties

abstract val controller: RobotPosVelController

open val defaultAccelConstraint: AccelConstraint

abstract val defaultTurnConstraints: TurnConstraints

open val defaultVelConstraint: VelConstraint

open fun createProfile(path: PosePath): DisplacementProfile

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

open fun createTrajectory(path: PosePath): DisplacementTrajectory

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

fun Drive.drawPoseHistory(canvas: Canvas)

open fun setDrivePowers(powers: PoseVelocity2d)

abstract fun setDrivePowers(powers: PoseVelocity2dDual<Time>)

open fun setDrivePowersWithFF(powers: PoseVelocity2d)

abstract fun setDrivePowersWithFF(powers: PoseVelocity2dDual<Time>)

fun Drive.splineTo(target: Vector2d, tangent: Rotation2d): DisplacementTrajectory

open fun trajectoryBuilder(): TrajectoryBuilder

abstract fun trajectoryBuilder(startPose: Pose2d): TrajectoryBuilder

open fun updatePoseEstimate(): PoseVelocity2d