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

MecanumDriveWithRR

class MecanumDriveWithRR(hardwareMap: HardwareMap, var pose: Pose2d = Pose2d(Vector2d(0.0, 0.0), 0.0), params: MecanumDriveWithRR.DriveParams = DriveParams()) : MecanumDrivetrain

A mecanum drivetrain integrated with the RoadRunner library.

Parameters

hardwareMap

the hardware map

params

the drive parameters

Constructors

MecanumDriveWithRR

constructor(hardwareMap: HardwareMap, pose: Pose2d = Pose2d(Vector2d(0.0, 0.0), 0.0), params: MecanumDriveWithRR.DriveParams = DriveParams())

Types

inner class DriveLocalizer(var pose: Pose2d) : Localizer

class DriveParams(val logoFacingDirection: RevHubOrientationOnRobot.LogoFacingDirection = LogoFacingDirection.UP, val usbFacingDirection: RevHubOrientationOnRobot.UsbFacingDirection = UsbFacingDirection.FORWARD, val inPerTick: Double = 1.0, val lateralInPerTick: Double = inPerTick, 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 axialGain: Double = 0.0, val lateralGain: Double = 0.0, val headingGain: Double = 0.0, val axialVelGain: Double = 0.0, val lateralVelGain: Double = 0.0, val headingVelGain: Double = 0.0)

Parameters for the robot's mecanum drive.

FollowTrajectoryAction

inner class FollowTrajectoryAction(timeTrajectory: TimeTrajectory) : Action

inner class TurnAction(turn: TimeTurn) : Action

Properties

val lazyImu: LazyHardwareMapImu

the lazy IMU

val leftBack: DcMotorEx

the left back motor

val leftFront: DcMotorEx

the left front motor

val localizer: MecanumDriveWithRR.DriveLocalizer

the drive localizer

val name: String

var pose: Pose2d

the pose

val rightBack: DcMotorEx

the right back motor

val rightFront: DcMotorEx

the right front motor

val state: StateFlow<AttachmentState>

val voltageSensor: VoltageSensor

the voltage sensor

Functions

driveActionBuilder

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.

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.