BunyipsLib/org.murraybridgebunyips.bunyipslib.roadrunner.drive/MecanumRoadRunnerDrive

MecanumRoadRunnerDrive

open class MecanumRoadRunnerDrive : MecanumDrive, RoadRunnerDrive

RoadRunner implementation for a 4-wheel Mecanum drive on REV hardware.

This class directly extends the base SampleMecanumDrive found in the RoadRunner v0.5 quickstart, and is wrapped to be a BunyipsSubsystem via MecanumDrive. Use the MecanumDrive class to use this drive in a BunyipsOpMode. This class requires you pass in an instance of DriveConstants, which has been adapted to allow multiple configurations for any drive.

Since

1.0.0-pre

Constructors

MecanumRoadRunnerDrive

constructor(constants: DriveConstants, coefficients: MecanumCoefficients, voltageSensor: HardwareMap.DeviceMapping<VoltageSensor>, @Nullable imu: IMU, fl: DcMotor, fr: DcMotor, bl: DcMotor, br: DcMotor)

Constructor for the MecanumRoadRunnerDrive class.

constructor(@Nullable telemetry: DualTelemetry, constants: DriveConstants, coefficients: MecanumCoefficients, voltageSensor: HardwareMap.DeviceMapping<VoltageSensor>, @Nullable imu: IMU, fl: DcMotor, fr: DcMotor, bl: DcMotor, br: DcMotor)

Constructor for the MecanumRoadRunnerDrive class.

Properties

open var coefficients: MecanumCoefficients

val constants: DriveConstants

trajectorySequenceRunner

val trajectorySequenceRunner: TrajectorySequenceRunner

Inherited properties

open var localizer: Localizer

Functions

cancelTrajectory

open fun cancelTrajectory()

Abort the current trajectory.

followTrajectory

open fun followTrajectory(trajectory: Trajectory)

Follow a trajectory.

followTrajectoryAsync

open fun followTrajectoryAsync(trajectory: Trajectory)

Follow a trajectory asynchronously.

followTrajectorySequence

open fun followTrajectorySequence(trajectorySequence: TrajectorySequence)

Follow a trajectory sequence.

followTrajectorySequenceAsync

open fun followTrajectorySequenceAsync(trajectorySequence: TrajectorySequence)

Follow a trajectory sequence asynchronously.

getExternalHeadingVelocity

open fun getExternalHeadingVelocity(): Double

open fun getLastError(): Pose2d

Get the last reported pose error from the drive.

open fun getMotorPowers(): Array<Double>

getRawExternalHeading

open fun getRawExternalHeading(): Double

getWheelPositions

open fun getWheelPositions(): List<Double>

getWheelVelocities

open fun getWheelVelocities(): List<Double>

open fun isBusy(): Boolean

open fun setMode(runMode: DcMotor.RunMode)

Set the run mode of all motors.

open fun setMotorPowers(powers: Array<Double>)

Set the motor powers for each motor on this drive.

open fun setMotorPowers(v: Double, v1: Double, v2: Double, v3: Double)

setPIDFCoefficients

open fun setPIDFCoefficients(runMode: DcMotor.RunMode, coefficients: PIDFCoefficients)

Set the PIDF coefficients for the drive motors.

setRotationPriorityWeightedDrivePower

open fun setRotationPriorityWeightedDrivePower(drivePowerRotationPriority: Pose2d)

Set a drive power with axial weights.

setWeightedDrivePower

open fun setWeightedDrivePower(drivePower: Pose2d)

Set a drive power with axial weights.

setZeroPowerBehavior

open fun setZeroPowerBehavior(zeroPowerBehavior: DcMotor.ZeroPowerBehavior)

Set the zero power behaviour of all motors.

open fun stop()

Stop the drive immediately.

trajectoryBuilder

open fun trajectoryBuilder(startPose: Pose2d): TrajectoryBuilder

open fun trajectoryBuilder(startPose: Pose2d, reversed: Boolean): TrajectoryBuilder

open fun trajectoryBuilder(startPose: Pose2d, startHeading: Double): TrajectoryBuilder

Get a trajectory builder for the drive.

trajectorySequenceBuilder

open fun trajectorySequenceBuilder(startPose: Pose2d): TrajectorySequenceBuilder

Get a trajectory sequence builder for the drive.

open fun turn(angle: Double)

Turn the drive.

open fun turnAsync(angle: Double)

Turn the drive asynchronously.

open fun update()

Update the drive with latest motor powers and odometry.

open fun waitForIdle()

Run current trajectory blocking until it is complete.

Inherited functions

getAccelerationConstraint

open fun getAccelerationConstraint(maxAccel: Double): TrajectoryAccelerationConstraint

Get an acceleration constraint for the drive.

getExternalHeading

fun getExternalHeading(): Double

abstract fun getExternalHeading(): Double

getPoseEstimate

fun getPoseEstimate(): Pose2d

abstract fun getPoseEstimate(): Pose2d

getPoseVelocity

fun getPoseVelocity(): Pose2d

abstract fun getPoseVelocity(): Pose2d

getVelocityConstraint

open fun getVelocityConstraint(maxVel: Double, maxAngularVel: Double, trackWidth: Double): TrajectoryVelocityConstraint

Get a velocity constraint for the drive.

open fun setDrivePower(drivePower: Pose2d)

abstract fun setDrivePower(drivePower: Pose2d)

Set a drive power.

open fun setDriveSignal(driveSignal: DriveSignal)

abstract fun setDriveSignal(driveSignal: DriveSignal)

Set a drive velocity and/or acceleration target.

setExternalHeading

fun setExternalHeading(value: Double)

abstract fun setExternalHeading(value: Double)

Assert the heading of the robot.

setPoseEstimate

fun setPoseEstimate(value: Pose2d)

abstract fun setPoseEstimate(value: Pose2d)

Assert the position of the robot.

updatePoseEstimate

fun updatePoseEstimate()

abstract fun updatePoseEstimate()

Update the pose estimate of the drive.

updatePoseFromMemory

open fun updatePoseFromMemory()

Set a remembered pose from memory in another OpMode.