Volt/dev.kingssack.volt.attachment.drivetrain.pp.swerve/OTOSSwervePedroPathingDrivetrain

OTOSSwervePedroPathingDrivetrain

class OTOSSwervePedroPathingDrivetrain(hardwareMap: HardwareMap, followerConstants: FollowerConstants = FollowerConstants(), localizerConstants: OTOSConstants = OTOSConstants(), pathConstraints: PathConstraints = PathConstraints(0.99, 100.0, 1.0, 1.0), driveConstants: SwerveConstants = SwerveConstants(), pods: CoaxialPod, initialPose: Pose = Pose()) : PedroPathingDrivetrain

A swerve PedroPathingDrivetrain with an OTOS localizer.

Parameters

hardwareMap

The FTC hardware map

followerConstants

constants for the path follower

localizerConstants

constants for the OTOS localizer

pathConstraints

constraints for path following

driveConstants

constants specific to the swerve drivetrain

initialPose

the robot's initial pose

Constructors

OTOSSwervePedroPathingDrivetrain

constructor(hardwareMap: HardwareMap, followerConstants: FollowerConstants = FollowerConstants(), localizerConstants: OTOSConstants = OTOSConstants(), pathConstraints: PathConstraints = PathConstraints(0.99, 100.0, 1.0, 1.0), driveConstants: SwerveConstants = SwerveConstants(), vararg pods: CoaxialPod, initialPose: Pose = Pose())

Properties

val name: String

val pose: Pose

the robot's current pose

val state: StateFlow<AttachmentState>

Functions

fun followPath(block: PathBuilder.() -> Unit): Action

Creates a path following action from a PathBuilder.

fun isBusy(): Boolean

Checks if the attachment is currently busy (Running).

fun isFaulted(): Boolean

Checks if the attachment is currently in a faulted state.

fun lineTo(line: BezierLine): Action

Follows the given line.

lineToConstantHeading

fun lineToConstantHeading(line: BezierLine, heading: Degrees): Action

fun lineToConstantHeading(line: BezierLine, heading: Radians): Action

Follow the given line with a constant heading.

lineToLinearHeading

fun lineToLinearHeading(line: BezierLine, initial: Degrees, final: Degrees): Action

fun lineToLinearHeading(line: BezierLine, initial: Radians, final: Radians): Action

Follows the given line while linearly interpolating the heading from initial to final.

lineToTangentHeading

fun lineToTangentHeading(line: BezierLine): Action

Follow the given line while tangentially interpolating the heading.

fun path(startPose: Pose = pose, block: PedroPathingActionBuilder.() -> PedroPathingActionBuilder): Action

Creates a path following action starting from startPose.

fun pathTo(pathChain: PathChain): Action

Follows the given path using PedroPathing.

fun requireReady()

Ensures the attachment is in the Idle state, throwing an exception if not.

open override fun setDrivePowers(powers: PoseVelocity2d)

Set the drive powers.

fun splineTo(curve: BezierCurve): Action

Follows the given curve.

splineToConstantHeading

fun splineToConstantHeading(curve: BezierCurve, heading: Degrees): Action

fun splineToConstantHeading(curve: BezierCurve, heading: Radians): Action

Follow the given curve with a constant heading.

splineToLinearHeading

fun splineToLinearHeading(curve: BezierCurve, initial: Degrees, final: Degrees): Action

fun splineToLinearHeading(curve: BezierCurve, initial: Radians, final: Radians): Action

Follow the given curve while linearly interpolating the heading from initial to final.

splineToTangentHeading

fun splineToTangentHeading(curve: BezierCurve): Action

Follow the given curve while tangentially interpolating the heading.

startTeleOpDrive

fun startTeleOpDrive()

open fun stop()

Stops the attachment and resets its state to Idle.

context(telemetry: Telemetry)
open override fun update()

Updates the telemetry with the current state of the attachment.