Drive-specific interfaces that provide functionality for setting robot velocities and using positional feedback for localization.
abstract class Drive
Abstraction for generic drivetrain motion and localization. |
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object Kinematics
A collection of methods for various kinematics-related tasks |
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interface Localizer
Generic abstraction for estimating robot pose over time. |
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abstract class MecanumDrive : Drive
This class provides basic functionality of a mecanum drive using on MecanumKinematics. |
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object MecanumKinematics
Mecanum drive kinematic equations. Ether's paper provides a derivation. |
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abstract class SwerveDrive : Drive
This class provides basic functionality of a swerve drive using on SwerveKinematics. |
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object SwerveKinematics
Swerve drive kinematic equations. |
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abstract class TankDrive : Drive
This class provides basic functionality of a tank/differential drive using on TankKinematics. |
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object TankKinematics
Tank drive kinematic equations based upon the unicycle model. This page gives a motivated derivation. |
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abstract class ThreeTrackingWheelLocalizer : Localizer
Localizer based on three unpowered tracking omni wheels. |
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abstract class TwoTrackingWheelLocalizer : Localizer
Localizer based on two unpowered tracking omni wheels and an orientation sensor. |