Tank Road Runner Drive
RoadRunner implementation for a 2+ wheel Tank drive on REV hardware.
This class directly extends the base SampleTankDrive
found in the RoadRunner v0.5 quickstart, and is wrapped to be a BunyipsSubsystem via TankDrive. Use the TankDrive 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
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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.
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.
Functions
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Abort the current trajectory.
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Follow a trajectory.
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Follow a trajectory asynchronously.
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Follow a trajectory sequence.
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Follow a trajectory sequence asynchronously.
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Get the acceleration constraint for the drive.
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Get the last reported pose error from the drive.
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open fun getVelocityConstraint(maxVel: Double, maxAngularVel: Double, trackWidth: Double): TrajectoryVelocityConstraint
Get the velocity constraint for the drive.
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Set the motor powers for each motor on this drive.
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Set the PIDF coefficients for the drive motors.
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Set a drive power with axial weights.
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Set a drive power with axial weights.
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Set the zero power behaviour of all motors.
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Get a trajectory builder for the drive.
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Get a trajectory sequence builder for the drive.
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Run current trajectory blocking until it is complete.
Inherited functions
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Set a drive power.
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Set a drive velocity and/or acceleration target.
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Assert the heading of the robot.
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Assert the position of the robot.
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Set a remembered pose from memory in another OpMode.