DualAutonomousMode

An AutonomousMode that can be registered as two separate op modes, one for each alliance color.

Constructors

constructor()

used to share information across opmodes

the selected alliance color

val gamepad1: Gamepad

used to get information from gamepad one

val gamepad2: Gamepad

used to get information from gamepad two

val hardwareMap: HardwareMap

used to get hardware instances

val telemetry: Telemetry

used to log information to the driver station

open override fun begin()

Code to run when the op mode begins.

open fun end()

Optional code to run when the op mode ends.

fun <T> forAlliance(red: T, blue: T): T

fun mirroredForAlliance(redPose: Pose): Pose