Package org.firstinspires.ftc.teamcode.subsystems.roadrunner.drive

Class SampleMecanumDrive

java.lang.Object

com.acmerobotics.roadrunner.drive.Drive

com.acmerobotics.roadrunner.drive.MecanumDrive

org.firstinspires.ftc.teamcode.subsystems.roadrunner.drive.SampleMecanumDrive

public class SampleMecanumDrive
extends com.acmerobotics.roadrunner.drive.MecanumDrive

Nested Class Summary

Nested classes/interfaces inherited from class com.acmerobotics.roadrunner.drive.MecanumDrive

com.acmerobotics.roadrunner.drive.MecanumDrive.MecanumLocalizer

Field Summary

Fields

Modifier and Type	Field	Description
static com.acmerobotics.roadrunner.control.PIDCoefficients	HEADING_PID
static double	LATERAL_MULTIPLIER
static double	OMEGA_WEIGHT
static com.acmerobotics.roadrunner.control.PIDCoefficients	TRANSLATIONAL_PID
static double	VX_WEIGHT
static double	VY_WEIGHT

Constructor Summary

Constructors

Constructor	Description
SampleMecanumDrive(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap)

Method Summary

Modifier and Type	Method	Description
void	followTrajectory(com.acmerobotics.roadrunner.trajectory.Trajectory trajectory)
void	followTrajectoryAsync(com.acmerobotics.roadrunner.trajectory.Trajectory trajectory)
void	followTrajectorySequence(TrajectorySequence trajectorySequence)
void	followTrajectorySequenceAsync(TrajectorySequence trajectorySequence)
static com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint	getAccelerationConstraint(double maxAccel)
Double	getExternalHeadingVelocity()
com.acmerobotics.roadrunner.geometry.Pose2d	getLastError()
double	getRawExternalHeading()
static com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint	getVelocityConstraint(double maxVel, double maxAngularVel, double trackWidth)
List<Double>	getWheelPositions()
List<Double>	getWheelVelocities()
boolean	isBusy()
void	setMode(com.qualcomm.robotcore.hardware.DcMotor.RunMode runMode)
void	setMotorPowers(double v, double v1, double v2, double v3)
void	setPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode runMode, com.qualcomm.robotcore.hardware.PIDFCoefficients coefficients)
void	setWeightedDrivePower(com.acmerobotics.roadrunner.geometry.Pose2d drivePower)
void	setZeroPowerBehavior(com.qualcomm.robotcore.hardware.DcMotor.ZeroPowerBehavior zeroPowerBehavior)
com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder	trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose)
com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder	trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose, boolean reversed)
com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder	trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose, double startHeading)
TrajectorySequenceBuilder	trajectorySequenceBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose)
void	turn(double angle)
void	turnAsync(double angle)
void	update()
void	waitForIdle()

Methods inherited from class com.acmerobotics.roadrunner.drive.MecanumDrive

getLocalizer, setDrivePower, setDriveSignal, setLocalizer

Methods inherited from class com.acmerobotics.roadrunner.drive.Drive

getExternalHeading, getPoseEstimate, getPoseVelocity, setExternalHeading, setPoseEstimate, updatePoseEstimate

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

TRANSLATIONAL_PID

public static com.acmerobotics.roadrunner.control.PIDCoefficients TRANSLATIONAL_PID

HEADING_PID

public static com.acmerobotics.roadrunner.control.PIDCoefficients HEADING_PID

LATERAL_MULTIPLIER

public static double LATERAL_MULTIPLIER

VX_WEIGHT

public static double VX_WEIGHT

VY_WEIGHT

public static double VY_WEIGHT

OMEGA_WEIGHT

public static double OMEGA_WEIGHT

Constructor Details

SampleMecanumDrive

public SampleMecanumDrive(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap)

Method Details

getVelocityConstraint

public static com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint getVelocityConstraint(double maxVel,
 double maxAngularVel,
 double trackWidth)

getAccelerationConstraint

public static com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint getAccelerationConstraint(double maxAccel)

trajectoryBuilder

public com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose)

trajectoryBuilder

public com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose,
 boolean reversed)

trajectoryBuilder

public com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose,
 double startHeading)

trajectorySequenceBuilder

public TrajectorySequenceBuilder trajectorySequenceBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose)

turnAsync

public void turnAsync(double angle)

turn

public void turn(double angle)

followTrajectoryAsync

public void followTrajectoryAsync(com.acmerobotics.roadrunner.trajectory.Trajectory trajectory)

followTrajectory

public void followTrajectory(com.acmerobotics.roadrunner.trajectory.Trajectory trajectory)

followTrajectorySequenceAsync

public void followTrajectorySequenceAsync(TrajectorySequence trajectorySequence)

followTrajectorySequence

public void followTrajectorySequence(TrajectorySequence trajectorySequence)

getLastError

public com.acmerobotics.roadrunner.geometry.Pose2d getLastError()

update

public void update()

waitForIdle

public void waitForIdle()

isBusy

public boolean isBusy()

setMode

public void setMode(com.qualcomm.robotcore.hardware.DcMotor.RunMode runMode)

setZeroPowerBehavior

public void setZeroPowerBehavior(com.qualcomm.robotcore.hardware.DcMotor.ZeroPowerBehavior zeroPowerBehavior)

setPIDFCoefficients

public void setPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode runMode,
 com.qualcomm.robotcore.hardware.PIDFCoefficients coefficients)

setWeightedDrivePower

public void setWeightedDrivePower(com.acmerobotics.roadrunner.geometry.Pose2d drivePower)

getWheelPositions

@NonNull
public List<Double> getWheelPositions()

Specified by:

getWheelPositions in class com.acmerobotics.roadrunner.drive.MecanumDrive

getWheelVelocities

public List<Double> getWheelVelocities()

Overrides:

getWheelVelocities in class com.acmerobotics.roadrunner.drive.MecanumDrive

setMotorPowers

public void setMotorPowers(double v,
 double v1,
 double v2,
 double v3)

Specified by:

setMotorPowers in class com.acmerobotics.roadrunner.drive.MecanumDrive

getRawExternalHeading

public double getRawExternalHeading()

Specified by:

getRawExternalHeading in class com.acmerobotics.roadrunner.drive.Drive

getExternalHeadingVelocity

public Double getExternalHeadingVelocity()

Overrides:

getExternalHeadingVelocity in class com.acmerobotics.roadrunner.drive.Drive