MeepMeep/org.rowlandhall.meepmeep.roadrunner/DriveShim

DriveShim

class DriveShim(driveTrainType: DriveTrainType, constraints: Constraints, var poseEstimate: Pose2d)

A shim class for the drive system, providing velocity and acceleration constraints based on the type of drive train and the given constraints.

Parameters

driveTrainType

The type of drive train (e.g., MECANUM, TANK).

constraints

The constraints for the drive system, including maximum velocities and accelerations.

poseEstimate

The initial pose estimate of the bot.

Constructors

Link copied to clipboard
constructor(driveTrainType: DriveTrainType, constraints: Constraints, poseEstimate: Pose2d)

Properties

Link copied to clipboard
var poseEstimate: Pose2d

Functions

Link copied to clipboard
fun trajectorySequenceBuilder(startPose: Pose2d): TrajectorySequenceBuilder

Creates a new TrajectorySequenceBuilder starting from the given Pose2d.