Volt/dev.kingssack.volt.attachment.drivetrain/MecanumDriveWithPP

MecanumDriveWithPP

class MecanumDriveWithPP(hardwareMap: HardwareMap, followerConstants: FollowerConstants, localizerConstants: DriveEncoderConstants, pathConstraints: PathConstraints, driveConstants: MecanumConstants, initialPose: Pose = Pose()) : MecanumDrivetrain

A mecanum drivetrain integrated with the PedroPathing library

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 mecanum drivetrain

initialPose

The initial pose of the robot

Constructors

MecanumDriveWithPP

constructor(hardwareMap: HardwareMap, followerConstants: FollowerConstants, localizerConstants: DriveEncoderConstants, pathConstraints: PathConstraints, driveConstants: MecanumConstants, initialPose: Pose = Pose())

Types

FollowerActionBuilder

inner class FollowerActionBuilder(startPose: Pose)

Properties

val follower: Follower

The path follower instance

val name: String

val pose: Pose

The robot's current pose

val state: StateFlow<AttachmentState>

Functions

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 path(startPose: Pose = pose, block: MecanumDriveWithPP.FollowerActionBuilder.() -> MecanumDriveWithPP.FollowerActionBuilder): Action

Creates a path following action starting from the given pose

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)

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.