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

TankRoadRunnerDrive

constructor(constants: DriveConstants, coefficients: TankCoefficients, voltageSensor: HardwareMap.DeviceMapping<VoltageSensor>, imu: IMU, leftMotors: List<DcMotor>, rightMotors: List<DcMotor>)

Create a new TankRoadRunnerDrive with the given parameters. Omits optional DualTelemetry parameter.

Parameters

constants

The drive constants

coefficients

The tank coefficients

voltageSensor

The voltage sensor mapping (hardwareMap.voltageSensor)

imu

The IMU for the robot. May be nullable if you are using three-wheel odometry.

leftMotors

The motors on the left side of the robot (e.g. Arrays.asList(fl, bl))

rightMotors

The motors on the right side of the robot (e.g. Arrays.asList(fr, br))

constructor(@Nullable telemetry: DualTelemetry, constants: DriveConstants, coefficients: TankCoefficients, voltageSensor: HardwareMap.DeviceMapping<VoltageSensor>, imu: IMU, leftMotors: List<DcMotor>, rightMotors: List<DcMotor>)

Create a new TankRoadRunnerDrive with the given parameters.

Parameters

telemetry

The (optional) DualTelemetry instance to use for telemetry.

constants

The drive constants

coefficients

The tank coefficients

voltageSensor

The voltage sensor mapping (hardwareMap.voltageSensor)

imu

The IMU for the robot. May be nullable if you are using three-wheel odometry.

leftMotors

The motors on the left side of the robot (e.g. Arrays.asList(fl, bl))

rightMotors

The motors on the right side of the robot (e.g. Arrays.asList(fr, br))