Drivetrain

Base class for all drivetrain attachments.

Constructors

constructor()

Checks if the attachment is currently busy (Running).

Checks if the attachment is currently in a faulted state.

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

abstract fun setDrivePowers(powers: PoseVelocity2d)

Set the drive powers.

open fun stop()

Stops the attachment and resets its state to Idle.

context(telemetry: Telemetry)
open fun update()

Updates the telemetry with the current state of the attachment.