DriveEncoderSwervePedroPathingDrivetrain
constructor(hardwareMap: HardwareMap, followerConstants: FollowerConstants = FollowerConstants(), localizerConstants: DriveEncoderConstants = DriveEncoderConstants(), pathConstraints: PathConstraints = PathConstraints(0.99, 100.0, 1.0, 1.0), driveConstants: SwerveConstants = SwerveConstants(), vararg pods: CoaxialPod, initialPose: Pose = Pose())
Parameters
hardwareMap
the FTC hardware map
followerConstants
constants for the path follower
localizerConstants
constants for the drive encoder localizer
pathConstraints
constraints for path following
driveConstants
constants specific to the swerve drivetrain
pods
the coaxial pods used by the swerve drivetrain
initialPose
the robot's initial pose