abstract class Drive
Abstraction for generic drivetrain motion and localization.
Drive()
Abstraction for generic drivetrain motion and localization. |
abstract var localizer: Localizer |
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var poseEstimate: Pose2d
The robot's current pose estimate. |
abstract fun setVelocity(poseVelocity: Pose2d): Unit
Sets the poseVelocity of the robot. |
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fun updatePoseEstimate(): Unit
Updates poseEstimate with the most recent positional change. |
abstract class MecanumDrive : Drive
This class provides basic functionality of a mecanum drive using on MecanumKinematics. |
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abstract class SwerveDrive : Drive
This class provides basic functionality of a swerve drive using on SwerveKinematics. |
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abstract class TankDrive : Drive
This class provides basic functionality of a tank/differential drive using on TankKinematics. |