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

SimpleManualModeWithSpeedModes

abstract class SimpleManualModeWithSpeedModes<T : MecanumDrivetrain, R : RobotWithMecanumDrivetrain<T>>(params: SimpleManualModeWithSpeedModes.SimpleManualModeWithSpeedModesParams = SimpleManualModeWithSpeedModesParams(), manualParams: ManualMode.ManualParams = ManualParams()) : ManualMode<R>

An abstract class that defines the methods for running a manual mode with speed modes for a robot with a mecanum drivetrain.

Parameters

params

the configuration object for manual control

the type of mecanum drivetrain

the type of robot with mecanum drivetrain

Constructors

SimpleManualModeWithSpeedModes

constructor(params: SimpleManualModeWithSpeedModes.SimpleManualModeWithSpeedModesParams = SimpleManualModeWithSpeedModesParams(), manualParams: ManualMode.ManualParams = ManualParams())

Types

SimpleManualModeWithSpeedModesParams

data class SimpleManualModeWithSpeedModesParams(val minPower: Double = 0.05, val turnScale: Double = 0.9, val turbo: Double = 1.0, val normal: Double = 0.5, val precise: Double = 0.2, val slow: Double = 0.1)

Configuration object for manual control.

SpeedMode

enum SpeedMode : Enum<SimpleManualModeWithSpeedModes.SpeedMode>

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 override fun begin()

Code to run when the op mode begins.

calculatePoseWithGamepad

fun calculatePoseWithGamepad(): 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.