BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.tasks/HolonomicDriveTask/HolonomicDriveTask

HolonomicDriveTask

constructor(@NonNull velSupplier: Supplier<PoseVelocity2d>, @NonNull drive: Moveable, @NonNull fieldCentricEnabled: BooleanSupplier)

Constructor for HolonomicDriveTask.

Parameters

velSupplier

The supplier for Robot velocity input

drive

The holonomic drive to use, which you must ensure is holonomic as strafe commands will be called unlike the differential control task. This task will be auto-attached to this BunyipsSubsystem if possible.

fieldCentricEnabled

A BooleanSupplier that returns whether field centric drive is enabled, note this will only work on a drive that has a Localizer attached to it.

constructor(@NonNull velSupplier: Supplier<PoseVelocity2d>, @NonNull drive: Moveable)

Constructor for HolonomicDriveTask on an always disabled field-centric mode.

Parameters

velSupplier

The supplier for Robot velocity input

drive

The holonomic drive to use, which you must ensure is holonomic as strafe commands will be called unlike the differential control task. This task will be auto-attached to this BunyipsSubsystem if possible.

constructor(@NonNull driver: Gamepad, @NonNull drive: Moveable, @NonNull fieldCentricEnabled: BooleanSupplier)

Constructor for HolonomicDriveTask using a default Mecanum binding. Left stick controls translation, right stick controls rotation.

Parameters

driver

The gamepad to use for driving in a standard configuration

drive

The holonomic drive to use, which you must ensure is holonomic as strafe commands will be called unlike the differential control task. This task will be auto-attached to this BunyipsSubsystem if possible.

fieldCentricEnabled

A BooleanSupplier that returns whether field centric drive is enabled, note this will only work on a drive that has a Localizer attached to it.

constructor(@NonNull driver: Gamepad, @NonNull drive: Moveable)

Constructor for HolonomicDriveTask using a default Mecanum binding. Field-centric mode is disabled by default. Left stick controls translation, right stick controls rotation.

Parameters

driver

The gamepad to use for driving in a standard configuration

drive

The holonomic drive to use, which you must ensure is holonomic as strafe commands will be called unlike the differential control task. This task will be auto-attached to this BunyipsSubsystem if possible.