Align
constructor(timeout: Measure<Time>, drive: BunyipsSubsystem, at: AprilTag, targetTag: Int, controller: PIDF)
Autonomous constructor.
Parameters
timeout
the timeout for the task
drive
the drivetrain to use, must be a RoadRunnerDrive
at
the AprilTag processor to use
target
the tag to align to, -1 for any tag
controller
the PID controller to use for aligning to a target
constructor(xSupplier: DoubleSupplier, ySupplier: DoubleSupplier, rSupplier: DoubleSupplier, drive: BunyipsSubsystem, at: AprilTag, targetTag: Int, controller: PIDF)
TeleOp constructor.
Parameters
x
x (strafe) value
y
y (forward) value
r
r (rotate) value
drive
the drivetrain to use, must be a RoadRunnerDrive
at
the AprilTag processor to use
target
the tag to align to, -1 for any tag
controller
the PID controller to use for aligning to a target
constructor(driver: Gamepad, drive: BunyipsSubsystem, at: AprilTag, targetTag: Int, controller: PIDF)
Constructor for AlignToAprilTagTask using a default Mecanum binding.
Parameters
driver
The gamepad to use for driving
drive
The MecanumDrive to use for driving
at
The AprilTag processor to use
target
The tag to align to, -1 for any tag
controller
The PID controller to use for aligning to a target