BunyipsLib/org.murraybridgebunyips.bunyipslib.drive/CartesianFieldCentricMecanumDrive

CartesianFieldCentricMecanumDrive

open class CartesianFieldCentricMecanumDrive : CartesianMecanumDrive

Variant of the Cartesian MecanumDrive that uses field-centric controls, accounting for robot heading.

This system is deprecated by RoadRunner, but remains for legacy/non-RoadRunner purposes. Coordinates used in Cartesian drives include a Cartesian speed mapping, where X is the horizontal axis, and Y is the forward axis. This is rotated differently within RoadRunner-derived drive bases.

Note: CFCMD no longer relies on an IMUOp subsystem, and can simply be used with a standard IMU from your config.

Author

Lucas Bubner, 2023

Since

1.0.0-pre

See also

Constructors

CartesianFieldCentricMecanumDrive

constructor(frontLeft: DcMotor, frontRight: DcMotor, backLeft: DcMotor, backRight: DcMotor, imu: IMU, invalidatePreviousHeading: Boolean, startingDirection: Direction)

Constructs a new CartesianFieldCentricMecanumDrive.

Inherited properties

open var currentTask: Task

protected open var name: String

protected val opMode: BunyipsOpMode

open var speedR: Double

Rotational speed of the robot.

open var speedX: Double

Horizontal speed of the robot.

open var speedY: Double

Vertical speed of the robot.

Functions

open fun setSpeedXYR(x: Double, y: Double, r: Double): CartesianFieldCentricMecanumDrive

Set a speed at which the Mecanum drive assembly should move.

Inherited functions

assertParamsNotNull

protected fun assertParamsNotNull(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.

calculateRotationPrioritisedPowers

open fun calculateRotationPrioritisedPowers(speedX: Double, speedY: Double, speedR: Double): Array<Double>

Calculate Mecanum drive powers with rotational prioritisation.

cancelCurrentTask

fun cancelCurrentTask()

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

Prevent a subsystem from running.

fun enable()

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

fun isDefaultName(): Boolean

fun isDisabled(): Boolean

fun isIdle(): Boolean

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

protected open fun onDisable()

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

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.

protected open fun periodic()

Update and reflect the speed of the drive system to the actual motors, and calculate the motor powers based on these variables.

fun setDefaultTask(defaultTask: Task)

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

setHighPriorityCurrentTask

fun setHighPriorityCurrentTask(currentTask: Task)

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

open fun setMode(mode: DcMotor.RunMode): CartesianMecanumDrive

Set the drive system mode.

open fun setPriority(priority: CartesianMecanumDrive.Priority): CartesianMecanumDrive

open fun setSpeedPolarR(speed: Double, direction: Measure<Angle>, rSpeed: Double): CartesianMecanumDrive

Set a polar speed at which the Mecanum drive assembly should move.

setSpeedUsingController

open fun setSpeedUsingController(left_stick_x: Double, left_stick_y: Double, right_stick_x: Double): CartesianMecanumDrive

Set a speed at which the Mecanum drive assembly should move using controller input.

open fun setToBrake(): CartesianMecanumDrive

Set the drive system to brake.

open fun setToFloat(): CartesianMecanumDrive

Set the drive system to float.

fun startThread()

fun startThread(loopSleepDuration: Measure<Time>)

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

open fun stop()

Immediately stop the drive system.

fun stopThread()

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

open fun swapPriority(): CartesianMecanumDrive

Swap the priority of the drive system.

fun toString(): String

toVerboseString

fun toVerboseString(): String

fun update()

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

open fun updateAll()

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

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

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