Volt/dev.kingssack.volt.attachment.drivetrain.rr.tank/TankRoadRunnerDrivetrain

TankRoadRunnerDrivetrain

abstract class TankRoadRunnerDrivetrain(hardwareMap: HardwareMap, params: TankRoadRunnerDrivetrain.DriveParams = DriveParams()) : RoadRunnerDrivetrain<TankKinematics>

A tank drivetrain integrated with the RoadRunner library.

Parameters

hardwareMap

the hardware map

params

the drive parameters

Inheritors

DriveEncoderTankRoadRunnerDrivetrain

OTOSTankRoadRunnerDrivetrain

PinpointTankRoadRunnerDrivetrain

ThreeWheelTankRoadRunnerDrivetrain

TwoWheelTankRoadRunnerDrivetrain

Constructors

TankRoadRunnerDrivetrain

constructor(hardwareMap: HardwareMap, params: TankRoadRunnerDrivetrain.DriveParams = DriveParams())

Types

class DriveParams(val logoFacingDirection: RevHubOrientationOnRobot.LogoFacingDirection = LogoFacingDirection.UP, val usbFacingDirection: RevHubOrientationOnRobot.UsbFacingDirection = UsbFacingDirection.FORWARD, val leftMotorNames: List<String> = listOf("left"), val leftMotorDirections: List<DcMotorSimple.Direction> = listOf(DcMotorSimple.Direction.FORWARD), val rightMotorNames: List<String> = listOf("right"), val rightMotorDirections: List<DcMotorSimple.Direction> = listOf(DcMotorSimple.Direction.FORWARD), val inPerTick: Double = 1.0, val trackWidthTicks: Double = 0.0, val kS: Double = 0.0, val kV: Double = 0.0, val kA: Double = 0.0, val maxWheelVel: Double = 50.0, val minProfileAccel: Double = -30.0, val maxProfileAccel: Double = 50.0, val maxAngVel: Double = Math.PI, val maxAngAccel: Double = Math.PI, val ramseteZeta: Double = 0.7, val ramseteBBar: Double = 2.0, val turnGain: Double = 0.0, val turnVelGain: Double = 0.0)

Parameters for TankRoadRunnerDrivetrain.

FollowTrajectoryAction

inner class FollowTrajectoryAction(val timeTrajectory: TimeTrajectory) : Action

inner class TurnAction(turn: TimeTurn) : Action

Properties

val lazyImu: LazyHardwareMapImu

the lazy IMU

val leftMotors: List<DcMotorEx>

the left motors

abstract val localizer: RoadRunnerLocalizer

the localizer

val name: String

val rightMotors: List<DcMotorEx>

the right motors

val state: StateFlow<AttachmentState>

val voltageSensor: VoltageSensor

the voltage sensor

Functions

driveActionBuilder

open override fun driveActionBuilder(beginPose: Pose2d): TrajectoryActionBuilder

Create a new trajectory action builder.

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 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(from: Pose2d, to: Vector2d, tangent: Rotation2d): Action

Spline from from to to with tangent.

splineToLinearHeading

fun splineToLinearHeading(from: Pose2d, to: Pose2d, tangent: Rotation2d): Action

Spline from from to to with tangent.

open fun stop()

Stops the attachment and resets its state to Idle.

fun strafeTo(from: Pose2d, to: Vector2d): Action

Strafe from from to to.

strafeToLinearHeading

fun strafeToLinearHeading(from: Pose2d, to: Pose2d): Action

Strafe from from to to.

fun trajectory(from: Pose2d = localizer.pose, block: TrajectoryActionBuilder.() -> TrajectoryActionBuilder): Action

Build a trajectory action.

fun turn(from: Pose2d, degrees: Degrees): Action

Turn a certain number of degrees.

fun turn(from: Pose2d, radians: Radians): Action

Turn a certain number of radians.

fun turnTo(from: Pose2d, to: Degrees): Action

fun turnTo(from: Pose2d, to: Radians): Action

Turn from from to to.

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

Updates the telemetry with the current state of the attachment.

updatePoseEstimate

fun updatePoseEstimate(): PoseVelocity2d