BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.subsystems.drive/Moveable

Moveable

interface Moveable : Localizable

A generic interface to represent drivetrains and other movement that may operate in the sense that the current position can be modified on a 2D plane, and read back from accumulating a Localizer.

This interface does not make any assumptions on implementation details, or the hardware used, and simply provides a way that odometry and drive motor propagation can link and be used in components and tasks.

Author

Lucas Bubner, 2024

Since

5.1.0

Inheritors

Functions

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abstract fun setPower(@NonNull target: PoseVelocity2d)
Set the current commanded state of the robot in the Robot Coordinate System.

Inherited functions

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@Nullable
abstract fun getPose(): Pose2d
Calculate the accumulated pose from an internal localizer.
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@Nullable
abstract fun getVelocity(): PoseVelocity2d
Calculate the first derivative of the accumulated pose from an internal localizer.
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abstract fun setPose(@NonNull newPose: Pose2d)
open fun setPose(@NonNull vector: Vector2d, @NonNull vectorUnit: Distance, heading: Double, @NonNull headingUnit: Angle)
Reset the accumulated pose estimate to this pose.