MecanumDrive

abstract class MecanumDrive : Drive

This class provides the basic functionality of a mecanum drive using MecanumKinematics.

trackWidth - lateral distance between pairs of wheels on different sides of the robot

wheelBase - distance between pairs of wheels on the same side of the robot

class MecanumLocalizer : Localizer

Default localizer for mecanum drives based on the drive encoders and (optionally) a heading sensor.

MecanumDrive(trackWidth: Double, wheelBase: Double = trackWidth, clock: NanoClock = NanoClock.system())

This class provides the basic functionality of a mecanum drive using MecanumKinematics.

localizer	`open var localizer: Localizer` Localizer used to determine the evolution of poseEstimate.
trackWidth	`val trackWidth: Double` lateral distance between pairs of wheels on different sides of the robot
wheelBase	`val wheelBase: Double` distance between pairs of wheels on the same side of the robot

var poseEstimate: Pose2d

The robot's current pose estimate.

getExternalHeading	`abstract fun getExternalHeading(): Double` Returns the robot's heading in radians as measured by an external sensor (e.g., IMU, gyroscope). Heading is measured counter-clockwise from the x-axis.
getWheelPositions	`abstract fun getWheelPositions(): List<Double>` Returns the positions of the wheels in linear distance units. Positions should exactly match the ordering in setMotorPowers.
setMotorPowers	`abstract fun setMotorPowers(frontLeft: Double, rearLeft: Double, rearRight: Double, frontRight: Double): Unit` Sets the following motor powers (normalized voltages). All arguments are on the interval `[-1.0, 1.0]`.
setVelocity	`open fun setVelocity(poseVelocity: Pose2d): Unit` Sets the poseVelocity of the robot.

fun updatePoseEstimate(): Unit

Updates poseEstimate with the most recent positional change.