BunyipsLib/org.murraybridgebunyips.bunyipslib.drive/CartesianMecanumDrive

CartesianMecanumDrive

open class CartesianMecanumDrive : BunyipsSubsystem

Class for a Cartesian drive system that uses Mecanum wheels. Includes all the common math done across all Mecanum drive systems.

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.

Author

Lucas Bubner, 2023

Since

1.0.0-pre

See also

Inheritors

Constructors

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constructor(frontLeft: DcMotor, frontRight: DcMotor, backLeft: DcMotor, backRight: DcMotor)

Types

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enum Priority
Mecanum control prioritisation.

Properties

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open var speedR: Double
Rotational speed of the robot.
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open var speedX: Double
Horizontal speed of the robot.
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open var speedY: Double
Vertical speed of the robot.

Inherited properties

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@get:Nullable
open var currentTask: Task
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protected open var name: String
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protected val opMode: BunyipsOpMode

Functions

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open fun calculateRotationPrioritisedPowers(speedX: Double, speedY: Double, speedR: Double): Array<Double>
Calculate Mecanum drive powers with rotational prioritisation.
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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.
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open fun setMode(mode: DcMotor.RunMode): CartesianMecanumDrive
Set the drive system mode.
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open fun setSpeedPolarR(speed: Double, direction: Measure<Angle>, rSpeed: Double): CartesianMecanumDrive
Set a polar speed at which the Mecanum drive assembly should move.
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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.
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open fun setSpeedXYR(x: Double, y: Double, r: Double): CartesianMecanumDrive
Set a speed at which the Mecanum drive assembly should move.
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open fun setToBrake(): CartesianMecanumDrive
Set the drive system to brake.
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open fun setToFloat(): CartesianMecanumDrive
Set the drive system to float.
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open fun stop()
Immediately stop the drive system.
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open fun swapPriority(): CartesianMecanumDrive
Swap the priority of the drive system.

Inherited functions

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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.
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fun cancelCurrentTask()
Cancel the current task immediately and return to the default task, if available.
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fun disable()
Prevent a subsystem from running.
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fun enable()
Re-enable a subsystem if it was previously disabled via a disable() call.
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fun isIdle(): Boolean
Determine if the subsystem is idle, meaning an IdleTask is running.
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protected open fun onDisable()
User callback that runs once when this subsystem is disabled by a call to disable or by an assertion failure.
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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.
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fun setDefaultTask(defaultTask: Task)
Set the default task for this subsystem, which will be run when no other task is running.
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fun setHighPriorityCurrentTask(currentTask: Task)
Set the current task to the given task, overriding any current task.
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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.
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fun stopThread()
Call to stop delegating updates of this subsystem to a thread.
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fun update()
Update the subsystem and run the current task, if tasks are not set up this will just call periodic.
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open fun updateAll()
Update all instances of BunyipsSubsystem that has been constructed since the last clearing.
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fun <T : BunyipsSubsystem?> withName(@NonNull subsystemName: String): T
Set the name of this subsystem that will be used in telemetry and references.