Volt/dev.kingssack.volt.opmode.manual/AdvancedDrivetrainManualMode

AdvancedDrivetrainManualMode

abstract class AdvancedDrivetrainManualMode<T : Drivetrain, R : DrivetrainRobot<T>>(params: AdvancedDrivetrainManualMode.SpeedModesParams = SpeedModesParams(), drivetrainControlsParams: DrivetrainManualMode.DrivetrainControlsParams = DrivetrainControlsParams(), manualParams: ManualMode.ManualParams = ManualParams()) : DrivetrainManualMode<T, R>

A ManualMode that defines events for controlling a DrivetrainRobot

Parameters

the type of drivetrain to control

the type of robot with drivetrain

params

the configuration object for manual control

manualParams

the configuration object for manual control

Constructors

AdvancedDrivetrainManualMode

constructor(params: AdvancedDrivetrainManualMode.SpeedModesParams = SpeedModesParams(), drivetrainControlsParams: DrivetrainManualMode.DrivetrainControlsParams = DrivetrainControlsParams(), manualParams: ManualMode.ManualParams = ManualParams())

Types

SpeedMode

enum SpeedMode : Enum<AdvancedDrivetrainManualMode.SpeedMode>

SpeedModesParams

data class SpeedModesParams(val turbo: Double = 1.0, val normal: Double = 0.5, val precise: Double = 0.2, val slow: Double = 0.1)

Configuration object for speed modes.

Properties

blackboard

val blackboard: MutableMap<String, Any>

used to share information across opmodes

gamepad1

val gamepad1: Gamepad

used to get information from gamepad one

gamepad2

val gamepad2: Gamepad

used to get information from gamepad two

hardwareMap

val hardwareMap: HardwareMap

used to get hardware instances

var rx: Double

the rotation input from the gamepad

telemetry

val telemetry: Telemetry

used to log information to the driver station

var x: Double

the x-axis input from the gamepad

var y: Double

the y-axis input from the gamepad

Functions

begin

open fun begin()

Code to run when the op mode begins.

calculatePoseWithGamepad

fun calculatePoseWithGamepad(scale: Double): PoseVelocity2d

Calculates the pose velocity of the robot based on the gamepad input.

end

open fun end()

Optional code to run when the op mode ends.

opModeInInit

fun opModeInInit(): Boolean

opModeIsActive

fun opModeIsActive(): Boolean

tick

open override fun tick()

Tick the manual mode.