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

SimpleMecanumDrive

open class SimpleMecanumDrive : BunyipsSubsystem, Moveable

A minimal Mecanum drive implementation that does not include a RoadRunner configuration. This is useful for implementations where localizer information is not required at all times, such as in TeleOp, and RoadRunner features are not required to be active.

Author

Lucas Bubner, 2024

Since

6.0.0

Constructors

SimpleMecanumDrive

constructor(@Nullable leftFront: DcMotor, @Nullable leftBack: DcMotor, @Nullable rightBack: DcMotor, @Nullable rightFront: DcMotor)

Construct a new SimpleMecanumDrive.

Types

Priority

enum Priority

Mecanum control prioritisation.

Properties

localizer

@Nullable

@get:Nullable

open val localizer: Localizer

speedR

open var speedR: Double

Counter-clockwise rotational speed.

speedX

open var speedX: Double

Forward speed.

speedY

open var speedY: Double

Left speed.

Inherited properties

currentTask

@get:Nullable

open var currentTask: Task

name

@NonNull

protected open var name: String

Reference to the unmodified name of this subsystem.

opMode

@Nullable

protected val opMode: BunyipsOpMode

Get a reference to the currently running BunyipsOpMode.

Functions

getPose

@Nullable

open fun getPose(): Pose2d

Calculate the accumulated pose from an internal localizer.

getVelocity

@Nullable

open fun getVelocity(): PoseVelocity2d

Calculate the first derivative of the accumulated pose from an internal localizer.

onDisable

protected open fun onDisable()

User callback that runs once when this subsystem is disabled by a call to disable or by an assertion failure.

periodic

protected open fun periodic()

To be updated periodically on every hardware loop.

setPose

open fun setPose(@NonNull newPose: Pose2d)

Reset the accumulated pose estimate to this pose.

setPower

open fun setPower(@NonNull target: PoseVelocity2d)

Set the current commanded state of the robot in the Robot Coordinate System.

setPriority

@NonNull

open fun setPriority(@NonNull priority: SimpleMecanumDrive.Priority): SimpleMecanumDrive

swapPriority

@NonNull

open fun swapPriority(): SimpleMecanumDrive

Swap the priority of the drive system.

withAccumulator

@NonNull

open fun withAccumulator(@NonNull accumulator: Accumulator): SimpleMecanumDrive

Set the pose accumulator this drive instance should use.

withLocalizer

@NonNull

open fun withLocalizer(@NonNull localizer: Localizer): SimpleMecanumDrive

Set the localizer for this drive.

Inherited functions

assertParamsNotNull

protected fun assertParamsNotNull(@NonNull parameters: Array<Any>): Boolean

Utility function to run NullSafety.assertComponentArgs() on the given parameters, usually on the motors/hardware/critical objects passed into the constructor.

cancelCurrentTask

fun cancelCurrentTask()

Cancel the current task immediately and return to the default task, if available.

default

infix fun BunyipsSubsystem.default(defaultTask: Task)

Default task setter extension for BunyipsSubsystem to set the default task of a subsystem.

delegate

protected fun delegate(@NonNull child: BunyipsSubsystem)

Call to delegate the update of this subsystem, usually a component of another subsystem, to this subsystem.

disable

fun disable()

Prevent a subsystem from running.

enable

fun enable()

Re-enable a subsystem if it was previously disabled via a disable() call.

isDefaultName

fun isDefaultName(): Boolean

isDisabled

fun isDisabled(): Boolean

isIdle

fun isIdle(): Boolean

Determine if the subsystem is idle, meaning an IdleTask is running.

onEnable

protected open fun onEnable()

User callback that runs once when this subsystem is enabled by a call to enable or the first active call to periodic.

opMode

protected fun opMode(@NonNull ifRunning: Consumer<BunyipsOpMode>)

Null check consumer for the opMode field which will no-op the given consumer if an active BunyipsOpMode is not present (i.e.

require

@NonNull

protected fun require(@Nullable nullableOpMode: BunyipsOpMode): BunyipsOpMode

Null assertion for the opMode field which throws a NullPointerException if an active BunyipsOpMode is not present (i.e.

resetForOpMode

open fun resetForOpMode()

Reset stored static instances of BunyipsSubsystem.

setDefaultTask

fun setDefaultTask(@NonNull defaultTask: Task)

Set the default task for this subsystem, which will be run when no other task is running.

setHighPriorityCurrentTask

fun setHighPriorityCurrentTask(@NonNull currentTask: Task)

Set the current task to the given task, overriding any current task.

setPose

open fun setPose(@NonNull vector: Vector2d, @NonNull vectorUnit: Distance, heading: Double, @NonNull headingUnit: Angle)

Reset the accumulated pose estimate to this pose.

startThread

fun startThread()

fun startThread(@NonNull loopSleepDuration: Measure<Time>)

Call to delegate all updates of this subsystem to a thread that will begin execution on this method call.

stopThread

fun stopThread()

Call to stop delegating updates of this subsystem to a thread.

toString

@NonNull

fun toString(): String

toVerboseString

@NonNull

fun toVerboseString(): String

update

fun update()

Update the subsystem and run the current task, if tasks are not set up this will just call periodic.

updateAll

open fun updateAll()

Update all instances of BunyipsSubsystem that has been constructed since the last clearing.

withName

fun <T : BunyipsSubsystem?> withName(@NonNull subsystemName: String): T

Set the name of this subsystem that will be used in telemetry and references.