BunyipsLib/org.murraybridgebunyips.bunyipslib.tasks/HolonomicDriveTask/HolonomicDriveTask

HolonomicDriveTask

constructor(xSupplier: Supplier<Float>, ySupplier: Supplier<Float>, rSupplier: Supplier<Float>, @NotNull mecanumDrive: BunyipsSubsystem, fieldCentricEnabled: BooleanSupplier)

Constructor for HolonomicDriveTask.

Parameters

xSupplier

The supplier for the Cartesian x-axis input

ySupplier

The supplier for the Cartesian y-axis input, note that this will be inverted

rSupplier

The supplier for the CW rotation input

mecanumDrive

The MecanumDrive to use for driving, must be a MecanumDrive or CartesianMecanumDrive

fieldCentricEnabled

A BooleanSupplier that returns whether field centric drive is enabled, this will only work on a MecanumDrive that supports dynamic field-centric drive switching, such as the RoadRunner-integrated MecanumDrive

constructor(driver: Gamepad, @NotNull mecanumDrive: BunyipsSubsystem, fieldCentricEnabled: BooleanSupplier)

Constructor for HolonomicDriveTask using a default Mecanum binding. Left stick controls translation, right stick controls rotation.

Parameters

driver

The gamepad to use for driving

mecanumDrive

The MecanumDrive to use for driving, must be a MecanumDrive or CartesianMecanumDrive

fieldCentricEnabled

A BooleanSupplier that returns whether field centric drive is enabled, this will only work on a MecanumDrive that supports dynamic field-centric drive switching, such as the RoadRunner-integrated MecanumDrive